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cable tension optimization

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On the Cable Pseudo-Drag Problem of Cable-Driven Parallel Camera Robots at High Speeds
Huiling Wei, Yuanying Qiu, Ying Sheng
Journal:

Robotica / Volume 37 / Issue 10 / October 2019

Published online by Cambridge University Press:

04 March 2019, pp. 1695-1709
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This paper presents a control strategy for solving the cable pseudo-drag problem of cable-driven parallel camera robots at high speeds. The control strategy belongs to a hybrid position/tension control method based on cable tension optimization. The cable catenary model and cable pseudo-drag problem are considered firstly. Then, the dynamic model of the cable-driven parallel camera robot is established. The cable tension optimization is proposed. And then a control strategy is put forward and its stability is proved. Simulation results of a four-cable camera robot are presented and discussed.