Abstract：A computed torque controller was developed for trajectory tracking control of a two-DOF cable-suspended parallel robot. Interval arithmetic was used to analyze the cable tensions' parameter space consisting of the controller parameter and the initial states of the end-effector and to obtain the sufficient conditions of the reliable parameter space which satisfied the tension constraints. This method can track various trajectories such as periodic horizontal, vertical and circular trajectories, as well as point-to-point dynamic trajectories. When the initial state is not on the desired trajectory, the method provides a transition to the desired trajectory. Simulations show that the parameter combinations in the reliable space ensure that the end-effector converges exponentially to the desired trajectory and that the cable tensions remain positive at all times.
任凭, 何梦伊. 二自由度悬索并联机器人计算力矩控制[J]. 清华大学学报（自然科学版）, 2021, 61(3): 209-216.
REN Ping, HE Mengyi. Tracking control of a two-DOF cable-suspended parallel robot using the computed torque method. Journal of Tsinghua University(Science and Technology), 2021, 61(3): 209-216.
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