An Improved Motion Controller for Cable-Driven Serial Manipulators with Cable-Pulley and Ball-Screw Systems

The purpose of this paper is to design a motion controller for cable-driven serial manipulators (CDSMs) with the two systems of cable-pulley and ball-screw, which should improve the motion accuracy compared with the previous controller. First, an algorithm for determining the cable’s contact side and a cable length model based on this algorithm are proposed. Next, a hysteresis compensation algorithm based on the ball-screw’s motion direction change is proposed. Finally, an improved controller based on these models and algorithms is proposed. The experimental results verify the correctness and effectiveness of the improved controller.