Generation of feasible set points and control of a cable robot

  title={Generation of feasible set points and control of a cable robot},
  author={So-Ryeok Oh and Sunil Kumar Agrawal},
  journal={IEEE Transactions on Robotics},
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. These input constraints make feedback control of cable-suspended robots a lot more challenging than their counterpart parallel-actuated robots. In this paper, we present a computationally efficient control design procedure for a cable robot with six cables, which is kinematically determined as long as all cables are in… CONTINUE READING
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