We present two path planning algorithms for mobile robots that are connected by cable to a fixed base. Our algorithms efficiently compute the shortest path and control strategy that lead the robot to the target location considering cable length and obstacle interactions. First, we focus on cable-obstacle collisions. We introduce and formally analyze algorithms that build and search an overlappe...

tthe uncertainty estimation and compensation are challenging problems for the robust control of robot manipulators which are complex systems. this paper presents a novel decentralized model-free robust controller for electrically driven robot manipulators. as a novelty, the proposed controller employs a simple gaussian radial-basis-function network as an uncertainty estimator. the proposed netw...

Since most of the cable-driven parallel manipulators (CDPMs) are small in dimension or low speed, self-weight inertia cable is neglected when dealing with problems kinematics, dynamics and workspace. The treated as a massless straight line, not discussed. However, camera robot large-span high-speed CDPM. Thus, cannot be negligible. curved due to modeled catenary accurately account for its saggi...

This paper presents a discrete-time robust control for electrically driven robot manipulators in the task space. A novel discrete-time model-free control law is proposed by employing an adaptive fuzzy estimator for the compensation of the uncertainty including model uncertainty, external disturbances and discretization error. Parameters of the fuzzy estimator are adapted to minimize the estimat...