A Suspended Cable-Driven Parallel Robot for Human-Cooperative Object Transportation

Abstract

This paper describes the development of the suspended cable-driven parallel robot for object transportation having power assist function. The robot consists of the winches to drive four cables which suspend the object and control its three degrees of freedom motion. The impedance controller based on the external force measured by the tension sensors enables the operator to transport and position the object intuitively by directly applying the force to the object. Additionally, the workspace departure avoidance control by installing the virtual stiffness into the controller is also introduced.