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Dynamic modeling and robust controller design of a two-stage parallel cable robot

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4 Author(s)
So-Ryeok Oh ; Dept. of Mech. Eng., Delaware Univ., Newark, DE, USA ; Mankala, K. ; Agrawal, S.K. ; Albus, J.S.

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.

Published in:

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on  (Volume:4 )

Date of Conference:

April 26-May 1, 2004