Optimization and Control of a Planar Three Degrees of Freedom Manipulator with Cable Actuation

The paper analyzes a planar three degrees of freedom manipulator with cable actuation. Such system can be understood as special type hybrid parallel kinematic mechanism composed the rigid serial chain and additional auxiliary system. advantage is ability to reconfigure whole fulfillment sufficient prestressing constraint optimization process. Computed Torque Control force distribution algorithm implemented. control performance examined on different trajectories, including non-smooth motion requests, its robustness tested by randomly generated errors model parameters in regulators. results demonstrate that optimized structure capable controlling keeping within given limits.