Modeling and Flatness of Rigid and Flexible Cable Suspended Underactuated Robots

A modeling framework is proposed for the control of rigid and flexible cable-like systems such as cranes, together with a systematic algorithm for computing flat outputs of mechanical systems for which the flat output is a linear combi- nation of free coordinates. Key Lagrange multipliers are shown (i) to impose the condition of cable looseness, and (ii) to act as the extended states in the classical state-space representation. Some examples of cranes and suspended cable robots are given with their corresponding dynamics summarized as a set of well- defined vectors and matrices of real numbers.


Published in:
Proceedings of the 2010 IEEE International Conference on Control Applications Part of 2010 IEEE Multi-Conference on Systems and Control, 1307-1312
Presented at:
2010 IEEE International Conference on Control Applications Part of 2010 IEEE Multi-Conference on Systems and Control, Yokohama, Japan,, September 8-10, 2010
Year:
2010
Publisher:
IEEE
Keywords:
Laboratories:


Note: The status of this file is: Involved Laboratories Only


 Record created 2011-01-18, last modified 2018-06-24

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