Modeling, control and simulation of cable robots

Abstract : The proposed work deals with modeling, control and simulation for a class of non linear dynamic systems that is cable robots in order to analysis behavior of insects in free flight. One of the main features is to establish, from the geometric and kinematic equations, the mathematical model that describes evolution of the gripper robot. The second part presents analysis and design of control laws that assures stab ilization under severe constraints on the robots’ cables. The last section is devoted to numerical simulations to show high performances of the proposed approach.