Modeling, control and simulation of cable robots

Youssef Bouajila 1 Mohamed Boutayeb 1 Dominique Martinez 2
1 CRAN - Centre de Recherche en Automatique de Nancy
2 LORIA - Laboratoire Lorrain de Recherche en Informatique et ses Applications
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.
Keywords : Cable robots Nonlinear systems Modeling Control Numerical simulations
Type de document :
Communication dans un congrès
Third International Conference on Advances in Computing, Electronics and Electrical Technology, CEET 2015, Apr 2015, Kuala Lumpur, Malaysia. 〈10.15224/978-1-63248-056-9-32〉
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https://hal.inria.fr/hal-01257714
Contributeur : Dominique Martinez <>
Soumis le : lundi 18 janvier 2016 - 10:40:50
Dernière modification le : mardi 24 avril 2018 - 13:36:28

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CRAN | UNIV-LORRAINE | INRIA | LORIA

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Youssef Bouajila, Mohamed Boutayeb, Dominique Martinez. Modeling, control and simulation of cable robots. Third International Conference on Advances in Computing, Electronics and Electrical Technology, CEET 2015, Apr 2015, Kuala Lumpur, Malaysia. 〈10.15224/978-1-63248-056-9-32〉. 〈hal-01257714〉

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