Articles | Volume 6, issue 2
https://doi.org/10.5194/ms-6-119-2015
© Author(s) 2015. This work is distributed under
the Creative Commons Attribution 3.0 License.Hybrid Position-Force Control of a Cable-Driven Parallel Robot with Experimental Evaluation
Abstract. For cable-driven parallel robots elastic cables are used to manipulate a mobile platform in the workspace. In this paper, we present a hybrid position-force control, which allows for applying defined forces on the environment and simultaneous movement along the surface. We propose a synchronous control of the cable forces to ensure the stability of the platform during movement. The performance of the controller is experimentally investigated regarding contact establishment and dynamic behavior during a motion on the cable robot IPAnema 3.