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Thomas Maier, Christoph Woernle

Flatness-Based Control of Cable Suspension Manipulators

A cable suspension manipulator moves a payload platform in space by several spatially arranged cables with computer-controlled winches mounted on movable trolleys. Here, kinematically underconstrained systems are treated where the pose of the payload platform is not uniquely determined by the lengths of the cables. Based on the flatness property of the system, a feedforward trajectory control is obtained that moves the payload platform along prescribed trajectories in space without residual sway motions. The procedure is described for the motion control of an overhead trolley crane as an introductory example and extended to the trajectory control of a prototype three-cable suspension manipulator. Experimental results confirm the approach.

at – Automatisierungstechnik, Oldenbourg Wissenschaftsverlag

Print ISSN: 0178-2312
Volume: 51, 06/2003
Pages: 265

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