In this note, we investigate the problem of modeling and controlling four-cable-suspended robots during the motion of a platform carrying a given payload. Indeed, one of the challenges faced involves payload oscillations during motion. Initially, we elaborate on the dynamic model of the motion of the center of gravity of the platform-load assembly, which showcases this phenomenon. Subsequently, we establish an LQR type control law to achieve trajectory tracking where oscillations are reduced or eliminated. High performances of the proposed approach are shown through numerical simulations, including in the case of uncertain models.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    On Modelling and Control of Four Cable Suspended Robots


    Beteiligte:


    Erscheinungsdatum :

    16.04.2025


    Format / Umfang :

    2108526 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Vibrations of cable-suspended rehabilitation robots

    Zuccon G. / Doria A. / Bottin M. et al. | BASE | 2023

    Freier Zugriff

    Randomized kinodynamic planning for cable-suspended parallel robots

    Bordalba, Ricard / Porta, Josep M. / Ros, Lluís | BASE | 2018

    Freier Zugriff

    Randomized kinodynamic planning for cable-suspended parallel robots

    Bordalba Llaberia, Ricard / Porta Pleite, Josep Maria / Ros Giralt, Lluís | BASE | 2017

    Freier Zugriff

    On the Design of Cable-Suspended Planar Parallel Robots

    Fattah, Abbas | Online Contents | 2005


    Reconfiguration strategy for fully actuated translational cable-suspended parallel robots

    Bettega J. / Boschetti G. / Piva G. et al. | BASE | 2023

    Freier Zugriff