Model-free cable robot control

Abstract

This paper proposes a technique to control a cable robot in the total absence of a model and its parameters. The cable robot is actuated by three motors whose data, including exact positions, pulley diameters, and nominal cable length, are unknown. We just assume to have a very rough knowledge of lower and upper bounds for the partial derivatives of the relation between the cable lengths and the end-effector space coordinates. A structured-light sensor measures the end-effector position, and the goal is to drive it to a designated point. An algorithm is proposed with guaranteed convergence based on the so-called model-free plant tuning approach. No learning stage is required. Experimental results are reported.