Control of a Redundant Manipulator Mounted on a Base Plate Suspended by Six Wires

Two control methods of controlling a redundant manipulator mounted on a base plate suspended by six wires are proposed. By suspending the base plate by six linearly independent wires, the plate doesn´t swing even if the reaction forces are applied to the plate from the moving manipulator. However, if the reaction forces become too large due to fast motion, some wires become loose and the base plate may turn over. To avoid the overturn, two ways to exploit the redundancy of the manipulator are proposed and their effectiveness is verified by simulations and experiments