Vision-Based Control and Stability Analysis of a Cable-Driven Parallel Robot

摘要

In cable-driven parallel robots (CDPRs), rigid links are substituted by flexible cables. This change in actuation allows for a large workspace with a high payload to weight ratio, among other appealing characteristics. However, the accuracy for such systems needs to be improved to truly outperform classical parallel robots. A possible and not yet well studied solution is the use of vision-based control for CDPRs. This letter deals with the stability analysis of such a control scheme with regard to uncertainties lying both in the analytical models and the experimental setup. Two CDPRs are analyzed as illustrative examples. The results obtained show the system's robustness with respect to uncertainties.