Elasto-dynamic Model-Based Control of Non-redundant Cable-Driven Parallel Robots

  • Sana BakloutiEmail author
  • Stéphane Caro
  • Eric Courteille
Conference paper
Part of the CISM International Centre for Mechanical Sciences book series (CISM, volume 584)


This paper deals with a model-based feed-forward torque control strategy of non-redundant cable-driven parallel robots (CDPRs). The proposed feed-forward controller is derived from an inverse elasto-dynamic model of the CDPR to compensate for the dynamic and oscillatory effects due to cable elasticity. A PID feedback controller ensures stability and disturbance rejection. Simulations confirm that tracking errors can be reduced by the proposed strategy compared to conventional rigid body model-based control.


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Copyright information

© CISM International Centre for Mechanical Sciences 2019

Authors and Affiliations

  • Sana Baklouti
    • 1
    Email author
  • Stéphane Caro
    • 2
  • Eric Courteille
    • 1
  1. 1.Univ Rennes, INSA Rennes, LGCGM-EA 3913RennesFrance
  2. 2.CNRS, Laboratoire des Sciences du Numérique de Nantes, UMR CNRS 6004NantesFrance

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