Guaranteed reachable domain and control design for a cable robot subject to input constraints

Proceedings of the American Control Conference

Volumn 5, Issue , 2005, Pages 3379-3384

  Oh, So Ryeok ^a   Agrawal, Sunil K ^a  

^a UNIVERSITY OF DELAWARE   (United States)

Author keywords

Cable suspended robot; Input constraint; Reachable domain

Indexed keywords

CABLE-SUSPENDED ROBOTS; INPUT CONSTRAINTS; REACHABLE DOMAINS;

COMPUTER SIMULATION; DEGREES OF FREEDOM (MECHANICS); FEEDBACK CONTROL; PRODUCT DESIGN;

ROBOTS;

EID: 23944483707     PISSN: 07431619     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (8)

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2. Oh, S. R. and Agrawal, S. K., "Feasible Set Points with Positive Tensions for a Cable Suspended Robot with a Lyapunov Controller", 2004 ASME International Mechanical Engineering Congress and R/D Expo, IMECE2004-61539, Anaheim.
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7. Isidori, A. "Nonlinear Control Systems: an Introduction", Berlin: Springer Verlag, 1995.
8. Alp, A. B. and Agrawal, S. K., "Cable Suspended Robots: Design, Planning and Control", Proceedings of International Conference on Robotics and Automation, Washington, DC, 4275-4280, 2002.