Trajectory Control of Incompletely Restrained Parallel-Wire-Suspended Mechanism Based on Inverse Dynamics

Discrete trajectory control algorithms for NIMS3D, an autonomous underconstrained three-dimensional cabled robot

“…The computational burden is minimal. Essentially, the feedback defined by (13) calculates the set of velocities required to move the node 1 N −m of the way along the straight line from the current position to the destination. For m ≥ N , the gain is zero, meaning that the node stops moving after N iterations have elapsed.…”

“…While there exists work in the design and control of fully constrained cable robots [11], [12], prior art in trajectory control of underconstrained cable robots is somewhat limited. The authors of [13] employ inverse dynamics and feedforward and feedback control methods to provide trajectory control of an incompletely constrained wrench-type cable robot with mobile actuators. Control is achieved through a PD controller and a precompensator.…”

Design of a new 6-DOF parallel mechanism with a suspended platform

“…Alp and Agrawal [17] demonstrated a six degree-of-freedom cable suspended robot. Yanai, et al [18] and Yamamoto, et al [19] proposed an anti-sway control method for incompletely restrained type wiresuspended mechanism. Pusey, et al [20] analyzed the workspace of a 6-6 cable-suspended parallel robot.…”

Stiffness Enhancement and Motion Control of a 6-DOF Wire-driven Parallel Manipulator with Redundant Actuations for Wind Tunnels

“…the incompletely restrained positioning mechanisms (m<n+1), the completely restrained positioning mechanisms (m=n+1) and the redundantly restrained positioning mechanisms (m>n+1). Yamamoto et al presented basic dynamics equations and a feedback control method based on exact linearization for the incompletely restrained positioning mechanisms (Yamamoto et al, 2004). Hithoshi et al studied a robust PD control using adaptive compensation for translational wire-driven parallel manipulators of a completely restrained type (Hithoshi et al, 2007).…”