Dynamics and flatness-based control of a kinematically undetermined cable suspension manipulator

DOI10.1007/S11044-006-9023-5MaRDI QIDQ2507551zbMATH OpenOpenAlexFDO

Authors Thomas Heyden, Christoph Woernle

Publication date 4 October 2006

Published in Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s11044-006-9023-5

zbMATH Keywords

Cable suspension manipulatorCrane controlExact linearizationFlat systemsParallel kinematicsQuasi-static feedbackTrajectory tracking

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• Adaptive control of non‐completely controlled mechanical systems using dynamic feedback linearization and estimation design
• Control of flat systems by quasi-static feedback of generalized states
• Design, analysis and realization of tendon-based parallel manipulators
• Flatness and defect of non-linear systems: introductory theory and examples
• Flatness based control of a nonlinear chemical reactor model
• Flatness-Based Trajectory Tracking Control of an Underconstrained Cable Suspension Manipulator
• scientific article; zbMATH DE number 166511 (Why is no real title available?)
• scientific article; zbMATH DE number 1304550 (Why is no real title available?)
• scientific article; zbMATH DE number 1304551 (Why is no real title available?)
• Nonlinear control systems.

Cited in

(16)

• Comparative study of cable parallel manipulators with and without hybrid-driven planar five-bar mechanism
• Computational analysis of dynamic behaviour of inverted pendulum attached using fibres
• Index reduction by minimal extension for the inverse dynamics simulation of cranes
• Development of a large parallel-cable manipulator for the feed-supporting systems of a next-generation large radio telescope.
• Flatness-Based Trajectory Tracking Control of an Underconstrained Cable Suspension Manipulator
• Dynamic analysis and tracking control of the cable-suspended system for the five-hundred-meter aperture spherical telescope
• Reduced normal forms for nonlinear control of underactuated hoisting systems
• Real solutions of the direct geometrico-static problem of under-constrained cable-driven parallel robots with 3 cables: a numerical investigation
• scientific article; zbMATH DE number 1304550 (Why is no real title available?)
• Trajectory-tracking control from a multibody system dynamics perspective
• Model predictive control for path tracking in cable driven parallel robots with flexible cables: collocated vs. noncollocated control
• Numerical and experimental investigation on the synthesis of extended Kalman filters for cable-driven parallel robots modeled through DAEs
• Two approaches for feedforward control and optimal design of underactuated multibody systems
• Load torque estimation for cable failure detection in cable-driven parallel robots: a machine learning approach
• Inverse dynamics of underactuated mechanical systems: a simple case study and experimental verification
• Computer simulation of the inverse dynamics of a three-cable suspension manipulator

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