The cable array robot: Theory and experiment

J. J. Gorman, K. W. Jablokow, D. J. Cannon

Research output: Contribution to journalConference articlepeer-review

56 Scopus citations

Abstract

Cable array robots are a class of robotic mechanisms which utilize multiple actuated cables to manipulate objects. This paper discusses the defining characteristics and the important issues relating to this class of robots. One particular type of cable array robot with three cables is presented in detail including kinematic relations and dynamic modeling. The resulting models are used to design a sliding mode control system for the robot, providing robustness to uncertainty in the mass of manipulated objects while tracking a given trajectory. Experimental results are provided for the system, showing that the robot is capable of tracking a trajectory within several centimeters, which is reasonable performance for many industrial applications. These results are discussed in detail and future research plans are presented.

Original languageEnglish (US)
Pages (from-to)2804-2810
Number of pages7
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume3
StatePublished - Jan 1 2001
Event2001 IEEE International Conference on Robotics and Automation - Seoul, Korea, Republic of
Duration: May 21 2001May 26 2001

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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