Computed torque control of a cable suspended parallel robot

The main concern of this paper is modeling and control of a cable-suspended parallel robot. Alongside lots of benefits, a major open issue in the design of these robots is ensuring tensile cable forces for any admissible motion. The latter problem is particularly challenging when under-constrained configurations are considered. In this paper kinematics, statics and dynamics model of the cable-suspended parallel robot is introduced in a general form. Towards ensuring positive and bounded cable tensions in under-constrained robot Fmincon function of Matlab is used. The proposed method, uses cables tension limits and Jacobian matrix. The controller take benefits from computed torque method which is powerful method for dynamic models. The method is explained and the results achieved prove that the proposed method may a priori ensure positive and bounded cable tensions along desired path.