Redundancy Resolution and Disturbance Rejection via Torque Optimization in Hybrid Cable-Driven Robots

Redundancy resolution of manipulators through torque optimization

Stability Analysis and Robust PID Control of Cable Driven Robots Considering Elasticity in Cables

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...

Disturbance Robustness Measures and Wrench-Feasibile Workspace Generation Techniques for Cable-Driven Robots

Redundancy Resolution by Minimization of Joint Disturbance Torque for Independent Joint Controlled Kinematically

Majority of industrial robots are controlled by a simple independent joint control of joint actuators rather than complex controllers based on the nonlinear dynamic model of the robot manipulator. In this independent joint control scheme, the performance of actuator control is influenced significantly by the joint disturbance torques including gravity, Coriolis and centrifugal torques, which re...

Translational Planar Cable-Direct-Driven Robots

A planar cable-direct-driven robot (CDDR) architecture is introduced with only translational freedoms. The motivation behind this work is to improve the serious cable interference problem with existing CDDRs and to avoid configurations where negative cable tensions are required to exert general forces on the environment and during dynamic motions. These problems generally arise for rotational C...