Intuitive Control System for Cable-Driven Robot Manipulator

Abstract

The presented controller system has been designed and dedicated to the intuitiveand instinctive cable driven robot manipulator. The described robot manipulator is the moving platform suspended by the set of six variable-length steel cables. In practice the construction is like a standard inverted Stewart platform - the platform is able to move in all six degrees of freedom with respect to its base. The presented manipulator has been equipped with the suspending base that has been adequately improved. The improvement gives the additional 3 degrees of freedom and it allows to effectively increase the operation ability of the manipulator in small workspaces. The cable robot can be employed as the master-slave system useful for various teleoperator tasks