Dynamic stability of rest-to-rest trajectory planners for underconstrained cable robot

Project Description

Cable-driven parallel robots use cables instead of rigid links to move an operating tool in space. They are underactuated when fewer cables than the end-effector degrees of freedom are used. On one hand, their workspace is highly accessible, on the other, they maintain freedom even when actuators are locked. This means that trajectory planning must be carefully planned to reduce unwanted end-effector oscillations during and at the end of a trajectory. This project aims at investigating how fast the end-effector of the robot can move without incurring in dynamic instabilities (platform flip) if the operations are interrupted by an emergency stop. Project results will be validated through experiments.


  • Sound knowledge of basic mathematics
  • Sound knowledge of basic robotics
  • Basic knowledge of Matlab programming
  • Strong initiative and attitude problem solving
  • Strong will to cope with demanding challenges

Target Objectives

  • Improve knowledge about complex robotic systems (Cable-Driven parallel robots)
  • Acquire competence in standard trajectory planning techniques
  • Acquire knowledge in the damping vibration of multi-degrees of freedom dynamic systems

Expected Results

  • Development of a strategy for the correct stop of an underactuated Cable-Driven parallel robot movement as fast as possible
  • Experimental tests for the validation of the proposed technique

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