Abstract
The underconstrained cable suspension manipulator CABLEV moves a payload platform in space by three spatially arranged cables with computer-controlled winches. To make the payload platform track prescribed reference trajectories in space, a two-stage control concept is presented. A nonlinear feedforward control that exploits the flatness property of the system generates control inputs for the undisturbed motion along reference trajectories. Asymptotically stable tracking behaviour is achieved by a superimposed linear feedback of actual state variables.
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Heyden, T., Maier, T., Woernle, C. (2002). Trajectory Tracking Control for a Cable Suspension Manipulator. In: Lenarčič, J., Thomas, F. (eds) Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-017-0657-5_14
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DOI: https://doi.org/10.1007/978-94-017-0657-5_14
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