Feedback control for wire-suspended mechanism with exact linearization

This paper discusses a feedback control method for incompletely restrained wire-suspended mechanisms. The incompletely restrained wire-suspended mechanism has a merit that it enables three dimensional positioning and orientating of suspended object with simple mechanism using a small number of wires. However it also has a drawback that the manipulated object is easy to swing as seen in overhead crane which is one of the simplest incompletely restrained mechanism. For this reason, anti-sway control method for incompletely restrained type mechanisms is needed. A key point of our method is exact linearization using inverse dynamics of the system. Feedback control method with exact linearization and measuring method for the suspended object are presented, and effectiveness of proposed methods are shown by an experiment.