Defining new auxiliary dynamics, the controller could provide a priori saturated control command an adaptive multilayer neural network and an adaptive robust term are designed to compensate for the dynamic uncertainties of the system. Dis crete reconfiguration planning for cabledriven parallel robots. A reconfigurable cabledriven parallel robot for sandblasting and painting of large structures. Highspeed manipulation by using parallel wiredriven robots. The robot ende ector motion is controlled by the length and tension of each.
This publication presents the outcome of the first international conference on cabledriven parallel robots in 2012. A new adaptive neural controller is proposed for cabledriven parallel robots. Gladwell department of civil engineering university of waterloo waterloo, ontario, canada n2l 3gi aims and scope of the series the fundamental questions arising in mechanics are. Request pdf on oct 9, 2017, andreas pott and others published cabledriven parallel robots. The robot is requested to start from the state of rest, merge into two consecutive ellipses, a. Indirect force control of a cabledriven parallel robot.