Control Strategies for a Cable-Driven Parallel Robot with Varying Payload Information

A suspended Cable-Driven Parallel Robot (CDPR) composed of eight cables and a moving platform (MP) is used in pick-and-place application metal plates with different shapes, sizes masses. In order to ensure robust control despite mass variation, several combinations schemes laws have been experimented on prototype at IRT Jules Verne, France. The main objective this paper provide recommendations the selection strategy depending available information carried mass, presence or absence force sensors. Three scenarios are considered representing degradation observe impact performance applicable strategies. first case, sensors assumed measure cable tension, allowing real-time estimation mass. second MP known, but not plate whereas third case considers no all both plate. tested include standard proportional–derivative controller (PD), recently developed nonlinear balancing between sliding mode linear algorithms (SML). performances each analyzed along test trajectory for payloads, decision tree proposed.