Model-Based Control of a Pendulum by a 3-DoF Cable Robot Using Exact Linearization

Abstract

In this paper we present the modeling and control of a pendulum by a cable robot. The control is based on an exact linearization of the nonlinear MIMO system. The resulting closed-loop system is subsequently extended by a pendulum damping. The pose of the pendulum is determined by the connection point of the cables at the pendulum and a reflector at the end of the pendulum. Due to the model-based control and the capability of an external absolute measurement of the reflector by means of laser trackers, a high positioning accuracy is achievable, which is unique in the field of cable robots.