A cable-driven parallel robot (CDPR) was developed for the installation of curtain wall modules (CWM). The research addressed question whether CDPR capable installing CWMs with sufficient accuracy while being competitive compared to conventional manual methods. In order develop and test such a system, conceptual framework that consisted three sub-systems defined. tests, carried out in two close...

Redundant actuated parallel robot is a multi-input and multi-output (MIMO) system which usually works in an uncertain environment. In this paper, the force/position hybrid control structure of 6PUS-UPU redundant actuation parallel robot is designed, proportional-integral (PI) and model predictive control (MPC) cascade control strategy are used in the redundant branch of 6PUS-UPU redundant actua...

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...

A dynamic design approach for a mechatronic system called task based mechatronic system design approach (TBMSDA) is stated as a nonlinear dynamic optimization problem (NLDOP) and it is solved by using a differential evolution technique. The design of a parallel robot is carried out by this approach which integrates in a simultaneous way both the structure design parameters of a parallel robot a...

Mobile robots have been used widely in large number of intelligent based applications, where a random manoeuvring is an essential part of such systems, [1,2]. In this regards, experience has shown that mobile robots do require advanced parallel intelligent based control mechanisms. In this article, it is shown how a mobile robot can be controlled in movement via some rule based system. In this ...

Self-assembly of modular robotic systems enables the construction complex configurations to adapt different tasks. This paper presents a framework for SMORES types robots efficiently self-assemble into tree topologies. These form kinematic chains that have been shown be capable large variety manipulation and locomotion tasks, yet they can reconfigure using mobile reconfiguration. A desired topo...