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...

The forward position kinematics (FPK) of a parallel manipulator with new architecture supposed to be used as a moving mechanism in a flight simulator project is discussed in this paper. The closed form solution for the FPK problem of the manipulator is first determined. It has, then, been shown that there are at most 24 solutions for FPK problem. This result has been verified by using other tec...

As is well known, a wire-driven parallel manipulator is a manipulator whose end-effector is driven by a number of cables instead of rigid links. It shows several promising advantages over its rigid-link counterpart, such as simple light-weight mechanical structure, low moment inertia, large reachable workspace and high-speed motion. In the 1980s, the National Institute of Standards and Technolo...

the large amount of computation necessary for obtaining time optimal solution for moving a manipulator on specified path has made it impossible to introduce an on line time optimal control algorithm. most of this computational burden is due to calculation of switching points. in this paper a learning algorithm is proposed for finding the switching points. the method, which can be used for both ...

The LARMbot design is a mechanism-based structure that is inspired by the muscular-skeleton structure of the human anatomy considering the bones as per the serial chains and the muscular systems per the driving parallel architectures, [2]. In Figure 1 the main conceptual designs are shown as referring to the trunk structure as a combination of serial spine-like chain and a cable parallel manipu...

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...

In this paper, a motion control approach for a 5-DOF cabledriven manipulator is designed, and the mechanical structure design of this anthropomorphic-arm is introduced. For the 5DOF manipulator, a hybrid algorithm is proposed to make the trajectory tracing of the manipulator in task space with high accuracy; the goals of the first phase of the robot arm have been meet. Although the method of mo...

Experimental results indicate that time invariant linear elastic models for cable-driven parallel robots show a significant error in the force prediction during operation. This paper proposes the use of an extended model for polymer cables which allows to regard the hysteresis effects depending on the excitation amplitude, frequency, and initial tension level. The experimental design as well as...

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...

This paper addresses the direct geometrico-static analysis of under-constrained cable-driven parallel robots with 3 cables. The task consists in finding all equilibrium configurations of the end-effector when the cable lengths are assigned. An interval-analysis-based procedure is proposed to numerically find the real solutions of the problem for a robot of generic geometry. Three equation sets ...