Feasible Set Points With Positive Tensions for a Cable Suspended Robot With a Lyapunov Controller

Abstract

This paper considers characterization of the admissible workspace of set-points for a cable-suspended robot with positive input constraints. The main steps are: find the range of system states in terms of set-points using the system’s error dynamics, use the constraint inequalities in a manner such that positive input constraints are satisfied. The feasible workspace obtained by the proposed method is compared with the workspace given by iterative simulations. Finally, the effectiveness of the method is illustrated by laboratory experiments on a six-degree-of-freedom cable-suspended robot.