The cable array robot: theory and experiment

  • German J
  • Jablokow K
  • Cannon D
  • 27


    Mendeley users who have this article in their library.
  • 42


    Citations of this article.


Cable array robots are a class of robotic mechanisms which utilize multiple actuated cables to manipulate objects. This paper discusses the defining characteristics and the important issues relating to this class of robots. One particular type of cable array robot with three cables is presented in detail including kinematic relations and dynamic modeling. The resulting models are used to design a sliding mode control system for the robot, providing robustness to uncertainty in the mass of manipulated objects while tracking a given trajectory. Experimental results are provided for the system, showing that the robot is capable of tracking a trajectory within several centimeters, which is reasonable performance for many industrial applications. These results are discussed in detail and future research plans are presented.

Get free article suggestions today

Mendeley saves you time finding and organizing research

Sign up here
Already have an account ?Sign in

Find this document


  • J.J. German

  • K.W. Jablokow

  • D.J. Cannon

Cite this document

Choose a citation style from the tabs below

Save time finding and organizing research with Mendeley

Sign up for free