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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    On Modelling and Control of Four Cable Suspended Robots




    Publication date :

    2025-04-16


    Size :

    2108526 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Vibrations of cable-suspended rehabilitation robots

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

    Free access

    Randomized kinodynamic planning for cable-suspended parallel robots

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

    Free access

    Randomized kinodynamic planning for cable-suspended parallel robots

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

    Free access

    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

    Free access