A reference governor-based controller for a cable robot under input constraints

@article{Oh2005ARG,
  title={A reference governor-based controller for a cable robot under input constraints},
  author={So-Ryeok Oh and Sunil Kumar Agrawal},
  journal={IEEE Transactions on Control Systems Technology},
  year={2005},
  volume={13},
  pages={639-645}
}
Cable-suspended robots are structurally similar to parallel actuated robots but with the fundamental difference that cables can only pull the end-effector but not push it. From a scientific point of view, this feature makes feedback control of cable-suspended robots lot more challenging than their counterpart parallel actuated robots. In this brief, we look into the control design for a nonredundant cable-suspended robot under positive input constraints. The design is based on feedback… CONTINUE READING
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