In this study, a robust neuro-adaptive controller for cable-driven parallel robots is proposed. The robust neuroadaptive control system is comprised of a computation controller and a robust controller. The computation controller containing a neural-network-estimator with radial basis function activator is the principal controller and the robust controller is designed to achieve tracking perform...

This paper concerns the forward kinematics and tension distribution of sinking winches mechanism, which is a type of four-cable-driven partly constrained parallel robot. Conventional studies on forward kinematics of cable-driven parallel robot assumed that all cables are taut. Actually, given the lengths of four cables, some cables may be slack when the platform is in static equilibrium. Theref...

In this paper, the kinematics and dynamics modeling of the mechatronic model for a 6 DOF cabledriven parallel robot are covered and a real-time capable simulation model for such robots is derived. The governing equations of motion of the mobile platform are acquired using Newton-Euler formalism, furthermore, the pulley kinematics of the winches and a spring-damper based cable model are introduc...

The University of Minnesota’s Scout robot is a small cylindrical robot capable of rolling and jumping. In this paper, models describing the robot’s motion under its modi of actuation are developed. These models can be employed for Scout motion prediction and simulation. The models suggest that the determining factor of the Scout’s behavior is the length of the winch cable. The validity of the m...