The Cable Array Robot: Theory and Experiment

  title={The Cable Array Robot: Theory and Experiment},
  author={Jason Gorman and Kathryn W. Jablokow and David J. Cannon},
Cable array robots are a class of robotic mechanisms which utilize multiple actuated cables to manipulate objects. This paper discusses the defining characteristics and the important issues relating to this class of robots. One particular type of cable array robot with three cables is presented in detail including kinematic relations and dynamic modeling. The resulting models are used to design a sliding mode control system for the robot, providing robustness to uncertainty in the mass of… CONTINUE READING
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