One of the most challenging issues in adaptive control robot manipulators with kinematic uncertainties is requirement inverse Jacobian matrix regressor form. This inevitable case parallel robots, whose dynamic equations are written directly task space. In this paper, an controller designed for robots based on representation form, such that asymptotic trajectory tracking ensured. The main idea s...

In the field of large scale robotic, which is often remotely operated, having direct interaction can be disruptive for applications such as moving heavy loads or 3D printing. A Cable-Driven Parallel Robot (CDPR) used here in physical Human–Robot Interactions (pHRI) with an admittance-based control strategy to physically interact a user tele-operation co-manipulation mode. experiment involving p...

Cable-Driven Parallel Robots (CDPR) employ extendable cables to control the pose of an end-effector (EE). If number is smaller than degrees freedom EE, and have no special arrangement reducing EE freedoms, robot underactuated, underconstrained: as a consequence, preserves some freedoms even when all actuators are locked, which may lead undesirable free motions. This paper proposes novel methodo...

We present the control in physical interaction with environment of a Cable-suspended Aerial Multi-Robot Manipulator (CS-AMRM) called Fly-Crane , composed three aerial vehicles towed to platform by means six cables. The strategy enables system accurately and safely perform tasks involving expect...