Time optimal control of planar cable-suspended robot along specified path

This paper addresses time optimal control for planar cable suspended robots. The equations of motion are obtained versus path parameter and its derivatives. Then, these equations are reduced to a set of second order differential equations in the path parameter. The bounds on the cable tensions are transformed to the bounds on the acceleration along the path. By assuming that the control is bang-bang in the acceleration we obtain switching point in the s-s∙2 plane. Then the cable tensions are obtained versus path parameter and subsequently versus time.

Keywords:

cable robots , cable-suspended robots , time optimal control