Dynamic Modeling and Robust Controller Design of a Two-Stage Parallel Cable Robot

Abstract

Cable robots have been extensively used for the loading and unloading of cargo in shipping industries. In this paper, we look at a two-stage cable robot, i.e., a cable robot with two moving platforms connected in series. Sea conditions introduce disturbance into the system. This disturbance is considered while modeling the dynamics of the two-stage cable robot. A robust controller is designed which can assure robust tracking of the desired end-effector trajectory in the presence of the disturbance. The simulation results presented show the effectiveness of the controller.