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In this paper we consider the problem of regulation of a exible lumped parameter beam. The controller is an active/passive mass-spring-dashpot mechanism which is free to slide along the beam. In this problem the plant/controller equations are coupled and nonlinear, and the linearized equations of the system have two uncontrollable modes associated with a(More)
In cable-driven parallel manipulators (CPMs), cables can perform only under tension, and therefore, redundant actuation, which can be provided by redundant limbs, is needed to maintain the cable tensions. By optimizing the distribution of the forces in the cables and the redundant limbs, the average size of actuators can be reduced resulting in lower cost.(More)
In this paper, the trajectory planning of high-speed cable-based parallel manipulators is studied for a given geometrical path. The time-optimal trajectory-planning technique is adapted for these manipulators in which cable forces must be maintained tensile. This condition is represented as a constraint on the acceleration of the end-effector along the(More)
Position control of a wide class of hysteretic systems, that includes those described by a Preisach model, is considered. The main focus of this paper is stability, tracking and the trajectories of a hysteretic system controlled by a PI controller. The system output (not its derivative) is measured and controlled. It is shown that, for arbitrary reference(More)
Cable-actuated parallel manipulators (CPMs) rely on cables instead of rigid links to manipulate the moving platform in the taskspace. Upper and lower bounds imposed on the cable tensions limit the force capability in CPMs and render certain forces infeasible at the end effector. This paper presents a geometrical analysis of the problems to 1) determine(More)