Cable robots are structurally the same as parallel robots but with the basic difference that cables can only pull the platform and cannot push it. This feature makes control of cable robots a lot more challenging compared to parallel robots. This paper introduces a controller for cable robots under force constraint. The controller is based on input-output linearization and linear model predicti...

We propose a new approach for the reliable 6dimensional quasi-static manipulation of an aerial towed-cable system. The novelty of this approach lies in the combination of results deriving from the static analysis of cable-driven manipulators with the application of a cost-based motion-planning algorithm to solve manipulation queries. Using this approach, we can ensure that the produced paths ar...

The direct geometrico-static problem of cable-driven parallel robots with 5 cables is presented. The study provides procedures for the identification of all equilibrium poses of the end-effector when cable lengths are assigned. A leastdegree univariate polynomial in the ideal governing the problem is obtained, thus showing that the latter has 140 solutions in the complex field. By a continuatio...

This paper addresses the direct geometrico-static analysis of under-constrained cable-driven parallel robots with 3 cables. The task consists in finding all equilibrium configurations of the end-effector when the cable lengths are assigned. An interval-analysis-based procedure is proposed to numerically find the real solutions of the problem for a robot of generic geometry. Three equation sets ...

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...

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...

This paper studies the kinematics and statics of cable-driven parallel robots with less than six cables, in crane configuration. A geometrico-static model is provided, together with a general procedure aimed at effectively solving, in analytical form, the inverse and direct position problems. The stability of equilibrium is assessed within the framework of a constrained optimization problem, fo...

The following problem appears in robotics. A number of small, circular robots live in a common planar workspace. Each is attached by a exible cable of nite length to a point on the boundary of this workspace. Each robot has a target point in the workspace it must reach. When a robot has reached its target, its cable will have been dragged out into the workspace and possibly pushed and bent by o...