In this paper modeling and control of cable driven redundant parallel manipulators with flexible cables, are studied in detail. Based on new results, in fully constrained cable robots, cables can be modeled as axial linear springs. Considering this assumption the system dynamics formulation is developed using Lagrange approach. Since in this class of robots, all the cables should remain in tens...

In order to control cable-driven parallel robots (CDPRs), it is necessary keep all cable tensions within (positive) known limits during motion. For CDPRs having more cables than end-effector degrees of freedom, a feasible force distribution should be computed beforehand. This paper aims at evaluating how tension error in one affects the overall other cables, by focusing on planar overconstraine...

A new robust nonlinear controller is presented and applied to a planar 2-DOF parallel manipulator with redundant actuation. The robust nonlinear controller is designed by combining the nonlinear PD (NPD) control with the robust dynamics compensation. The NPD control is used to eliminate the trajectory disturbances, unmodeled dynamics and nonlinear friction, and the robust control is used to res...

The cable-driven segmented manipulator with cable-constrained synchronous rotating mechanisms is a new type of continuum manipulator, which has large stiffness and fewer motors, thus exhibits excellent comprehensive performance. This paper presents dynamic modeling method for this to analyze the effect friction deformation cables on dynamical behaviors system. First, driving are modeled based A...

Torque control strategy is a common strategy to control robotic manipulators. However, it becomes complex duo to manipulator dynamics. In addition, position control of Permanent Magnet Synchronous Motors (PMSMs) is a complicated control. Therefore, tracking control of robots driven by PMSMs is a challenging problem. This article presents a novel tracking control of electrically driven robots wh...

The presented robotic system has been designed and dedicated to remote control video cameras away from monitoring workspaces. The idea of the system is that the camera is installed on the flying platform of the cable driven manipulator. The manipulator is the slave part of the robotic system similar to the standard inverted Stewart platform that features six degrees of freedom. The presented ma...