Optimal actuator placement for vibration control of a planar cable-driven robotic manipulator

Abstract

This paper aims to develop a new control scheme for an overconstrained planar cable-driven parallel robotic manipulator. The addition of a sliding mass actuator at the end effector is considered for reducing out of plane vibrations. The optimal placement for a sliding mass actuator, based on the overall system controllability, is investigated. A LQR with input saturation and constrained MPC types of control are considered and compared in simulation. The addition of a sliding mass actuator is demonstrated to have significant benefit at reducing out of plane vibrations.