Dual Space Control of a Deployable Cable Driven Robot: Wave Based Approach

Document Type : Original Article


1 Faculty of electrical engineering, K. N. Toosi university of technology, Tehran,Iran

2 faculty of electrical engineering, K.N.Toosi university of technology, Tehran,Iran

3 Department of Electrical Engineering, K. N. Toosi University of Technology, Tehran, Iran

4 Department of Mechanical Engineering, Robotics Laboratory, Laval University, Quebec City, QC G1V 0A6, Canada.


Known for their lower costs and numerous applications, cable robots are an attractive research field in robotic community. However, considering the fact that they require an accurate installation procedure and calibration routine, they have not yet found their true place in real-world applications. This paper aims to propose a new controller strategy that requires no meticulous calibration and installation procedures and can handle the uncertainties induced as a result of that. It is well known that kinematic uncertainties can lead to loose cables when one deals with a redundantly actuated robot. The control methodology presented in this paper is a simple yet powerful controller based on wave-based theory that can handle the aforementioned loosened cables. Thus, through applying this novel controller, the applications of cable robots to real-world problems has become more feasible. This paper also investigates the performance of the proposed controller and its effectiveness through some practical experiments. We observed that the‎ proposed controller outperforms conventional cascade topologies in‎ ‎terms of tracking smoothness.