Abstract
This paper presents an analysis of the possibility of using cables to eliminate out-of-plane vibrations in planar cable-driven parallel robotic manipulators. A new control strategy is presented with a complete stability analysis. The results show it is theoretically possible to stabilize planar cable-driven systems in non-planar directions using cables alone. The developed controller is shown to be effective both in simulation and experimentally at attenuating transverse platform vibrations.
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Acknowledgements
The authors would like to acknowledge the financial support of the Natural Sciences and Engineering Research Council of Canada in this project.
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Rushton, M., Khajepour, A. (2018). Transverse Vibration Control in Planar Cable-Driven Robotic Manipulators. In: Gosselin, C., Cardou, P., Bruckmann, T., Pott, A. (eds) Cable-Driven Parallel Robots. Mechanisms and Machine Science, vol 53. Springer, Cham. https://doi.org/10.1007/978-3-319-61431-1_21
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DOI: https://doi.org/10.1007/978-3-319-61431-1_21
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