Dynamics Calculation and Precise Control of a Suspended Object for Large Scale Cable Robot

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Large scale cable robot is used as a simple positioning mechanism such as an active camera system in a stadium or a large telescope structure, because of its simple and light weight mechanism. However, the large scale cable robot has disadvantage of low rigidity which leads to cable's sag and cable's vibration. Those characteristics make difficult to realize precise positioning control of the suspended object for the cable robot. Therefore, this study firstly proposes a dynamical model which represents cable's sag and cable's vibration. Then the dynamical model is used as a compensator for a feedback controller of the large scale cable robot. To realize the feedback control system, measurement of the suspended object is also needed. Thus, the study also proposes the measurement and estimation method of the suspended object. The total control method shows an ability of precise control of the suspended object for the large scale cable robot.