Abstract
Underconstrained cable suspension manipulators support a load platform in space by less than six spatially arranged cables with independently controllable winches. To control the motion of the platform along desired trajectories in space, the classical inverse kinematic or computed-torque schemes are generalized using the concept of flat systems. For desired trajectories of the load platform and a sufficient number of their time derivatives, the control inputs can be algebraically calculated. Asymptotically stable tracking behaviour is achieved by cascaded feedback of state variables. The application of the method is shown for a planar overhead trolley crane as well as for a novel three-cable suspension manipulator.
Volume Subject Area:
17th Biennial Conference on Mechanical Vibration and Noise
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