A null-space-based control for cable driven manipulators

Davide Cattin, Emre Sariyildiz, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)


Cable driven systems have been applied in several manipulators and due to their high backdrivability and apparent low inertia have been successfully used in telemanipulation systems. However, in order to achieve high performances, a control to keep the cables taut is needed. In this paper, a position control in the null and range space is used to avoid cables from slacking and to achieve the desired performances. Indeed, a cable driven manipulator is a redundant system and its null space represents the internal forces, that is the tensions of the cables. To guarantee robustness against model parametric uncertainties and external disturbances, a position based disturbance observer has been designed. Proof of stability of the proposed control and bounds of the estimation error have been given. Simulation and experimental results show that the proposed control achieve the desired performances keeping the cables taut.

Original languageEnglish
Title of host publicationProceedings, IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society
Number of pages6
Publication statusPublished - 2012 Dec 1
Event38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012 - Montreal, QC, Canada
Duration: 2012 Oct 252012 Oct 28

Publication series

NameIECON Proceedings (Industrial Electronics Conference)


Other38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012
CityMontreal, QC

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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