Abstract:
Cable Suspended Parallel Manipulators (CSPMs) are a class of cable robots that are held in tension by the end-effector weight. Controlling the complex CSPM motion require...Show MoreMetadata
Abstract:
Cable Suspended Parallel Manipulators (CSPMs) are a class of cable robots that are held in tension by the end-effector weight. Controlling the complex CSPM motion requires advanced knowledge of the equilibrium positions and the system dynamics. Additionally, the changing cable lengths alter the natural frequencies of the manipulator as it moves around the workspace. This paper presents the modeling and control of a large scale CSPM with an extendable end-effector. The dominant dynamics were used to design a control system to limit the end-effector vibration. The simulated results are compared to a full-scale experimental setup to verify the key findings.
Date of Conference: 27-30 August 2017
Date Added to IEEE Xplore: 09 October 2017
ISBN Information: