this paper proposes a control strategy for a cable-suspended robot based on sliding mode approach (smc) which is faced to external disturbances and parametric uncertainties. this control algorithm is based on lyapunov technique which is able to provide the stability of the end-effecter during tracking a desired path with an acceptable precision. the main contribution of the paper is to calculat...

in this paper, according to high load capacity and rather large workspace characteristics of cable driven robots (cdrs), maximum dynamic load carrying capacity (dlcc) between two given end points in the workspace along with optimal trajectory is obtained. in order to find dlcc of cdrs, joint actuator torque and workspace of the robot constraints concerning to non-negative tension in cables are ...

In this paper, a new formulation along with numerical solution for the problem of finding a point-to-point trajectory with maximum load carrying capacities for flexible manipulators is proposed. For rigid manipulators, the major limiting factor in determining the Dynamic Load Carrying Capacity (DLCC) is the joint actuator capacity. The flexibility exhibited by light weight robots or by robots o...

In this paper, the State Dependent Riccati Equation (SDRE) method is implemented on robotic systems such as a mobile two-links planar robot and a xed 6R manipulator with complicated dynamic equations. Dynamic modelings of both cases are presented using the Lagrange method. Afterwards, the Dynamic Load Carrying Capacity (DLCC), which is an important characteristic of robots, is calculated for th...

In this paper, the general dynamic equation of motion of Cable Driven Robots (CDRs) is obtained from Lagrangian formulation. A computational technique is developed for obtaining an optimal trajectory to maximize the dynamic load carrying capacity for a given point-to-point task. Dynamic equations are organized in a closed form and are formulated in the state space form. In order to nd the Dynam...

in this paper a performance analysis is presented for a cable-suspended parallel manipulator. experimental results from some first tests are presented and discussed to validate the theoretical calculation of load carrying capacity. the load-carrying capacity during a given trajectory is obtained. this computational technique is tested on a typical planar cable suspended manipulator. the experim...

this paper focuses on the effects of closed- control on the calculation of the dynamic load carrying capacity (dlcc) for mobile-base flexible-link manipulators. in previously proposed methods in the literature of dlcc calculation in flexible robots, an open-loop control scheme is assumed, whereas in reality, robot control is achieved via closed loop approaches which could render the calculated ...

In this paper, two methods are presented for solving closed loop optimal control problem and finding dynamic load carrying capacity (DLCC) for fixed and mobile manipulators. These control laws are based on the numerical solution to nonlinear Hamilton-Jacobi-Bellman (HJB) equation. First approach is the Successive Approximation (SA) for finding solution of HJB equation in the closed loop form an...

This paper focuses on the effects of closed- control on the calculation of the dynamic load carrying capacity (DLCC) for mobile-base flexible-link manipulators. In previously proposed methods in the literature of DLCC calculation in flexible robots, an open-loop control scheme is assumed, whereas in reality, robot control is achieved via closed loop approaches which could render the calculated ...

This paper presents an indirect method for computing optimal trajectory, subject to robot dynamics, exibilities and actuator constraints. One key-issue that arises from mechanism exibility is nding the Dynamic Load Carrying Capacity (DLCC). The motion planning problem is rst formulated as an optimization problem, and then solved using Pontryagin's minimum principle. The basic problem is convert...