Elasto-dynamic Model-Based Control of Non-redundant Cable-Driven Parallel Robots

International audienceThis paper deals with a model-based feed-forward torque control strategy of non-redundant cable-driven parallel robots (CDPRs). The proposed feed-forward controller is derived from an inverse elasto-dynamic model of the CDPR to compensate for the dynamic and oscil-latory effects due to cable elasticity. A PID feedback controller ensures stability and disturbance rejection. Simulations confirm that tracking errors can be reduced by the proposed strategy compared to conventional rigid body model-based control