This paper proposes a control strategy for a cable‐suspended robot based on an optimal sliding mode approach confronted by external disturbances and parametric uncertainties. This control algorithm is based on the Lyapunov technique, which is not only able to provide the stability of the end‐effector with an acceptable precision but also provides the optimal path in...

All of the Degrees of Freedom including of position and orientation of the end-effector of a spatial cable robot are sensed and recorded with a new sensor fusion method in this paper for being used as feedback. This goal is achieved by employing a hybrid methodology of image processing and distance measurement device. The advantage of the proposed algorithm over encoder solution is its higher a...

Cable-driven parallel robots are mechanisms that control the position and attitude of an object using multiple cables. Typical cable-driven have been studied for use on land, but not in water. This is because motion analysis become difficult underwater due to large deformation cables caused by fluid forces. In this paper, we propose robot consisting on-water derive a dynamics model considers ca...

in this paper robust pid control of fully-constrained cable driven parallel manipulators with elastic cables is studied in detail. in dynamic analysis, it is assumed that the dominant dynamics of cable can be approximated by linear axial spring. to develop the idea of control for cable robots with elastic cables, a robust pid control for cable driven robots with ideal rigid cables is firstly de...

Abstract: This paper introduces a cable-suspended robot, the Vehicle Simulation System, designed for pilot and driver training. The main idea of this work is to make a system that will provide realistic simulations of vehicle motion using virtual reality and a motion platform. A method to produce inertial forces acting on the vehicle user is proposed. A detailed description of the robot’s dynam...

In this paper robust PID control of fully-constrained cable driven parallel manipulators with elastic cables is studied in detail. In dynamic analysis, it is assumed that the dominant dynamics of cable can be approximated by linear axial spring. To develop the idea of control for cable robots with elastic cables, a robust PID control for cable driven robots with ideal rigid cables is firstly de...

planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. the problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...

This paper proposes the use of a randomized kinodynamic planning technique to synthesize dynamic motions for cable-suspended parallel robots. Given two mechanical states of the robot, both with a prescribed position and velocity, the method attempts to connect them by a collision-free trajectory that respects the joint and force limits of the actuators, keeps the cables in tension, and takes th...

The presented controller system has been designed and dedicated to the intuitive and instinctive cable driven robot manipulator. The described robot manipulator is the moving platform suspended by the set of six variable-length steel cables. In practice the construction is like a standard inverted Stewart platform the platform is able to move in all six degrees of freedom with respect to its ba...