Design and implementation of NIMS3D, a 3-D cabled robot for actuated sensing applications
IEEE Transactions on Robotics
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Dynamics and control of a 4-dof wearable cable-driven upper arm exoskeleton
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Design of a large-scale cable-driven robot with translational motion
Robotics and Computer-Integrated Manufacturing
Kinematics and Dynamics Modeling of a New 4-DOF Cable-Driven Parallel Manipulator
International Journal of Intelligent Mechatronics and Robotics
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Cable-suspended robots are structurally similar to parallel actuated robots but with the fundamental difference that cables can only pull the end-effector but not push it. From a scientific point of view, this feature makes feedback control of cable-suspended robots more challenging than their counterpart parallel-actuated robots. In the case with redundant cables, feedback control laws can be designed to make all tensions positive while attaining desired control performance. This paper presents approaches to design positive tension controllers for cable suspended robots with redundant cables. Their effectiveness is demonstrated through simulations and experiments on a three degree-of-freedom cable suspended robots.