Cable robot control program with a vertical arrangement of winch drums

The program is designed for coordinated control of cable robot drives built on the basis of OMRON controllers. The program calculates the rotation angles of the winch drives of the cable robot according to the specified positions of the working body, taking into account the design of the guide rollers and vertically located winch drums. The program calculates the angular speeds of rotation of the cable robot drives, providing movement of the working body to a predetermined position. The program transmits and receives data between OMRON controllers and the host computer. The program was developed at the Center for Technologies in Robotics and Mechatronics Components.