Modeling and Oscillations Control of a Planar Parallel Robot Subsystem Activated by Cable

Abstract

Cable Driven Parallel Robots (CDPR) are formed by putting together two separate structures, one fixed and the other mobile part which are held together by actuating wires. These robots present several physical phenomena including vibrations and elongation of the actuating wires, which can cause loss of precision or accuracy. This work is focused on improving the stability of the final effector position of a planar CDPR suspended by two cables, using a PID control that cancels the oscillatory variations of the position end effector. The control system is validated by inputting disturbances within the actuating cables.