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Cable robots have been extensively used for the loading and unloading of cargo in shipping industries. In this paper, we look at a two-stage cable robot, i.e., a cable robot with two moving platforms connected in series. Sea conditions introduce disturbance into the system. This disturbance is considered while modeling the dynamics of the two-stage cable robot. A robust controller is designed which can assure robust tracking of the desired end-effector trajectory in the presence of the disturbance. The simulation results presented show the effectiveness of the controller.
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on (Volume:4 )
Date of Conference: April 26-May 1, 2004