The conference “Robotics and Mechatronics” was held from September 23 to 28, as a part of the 12th Multiconference on Management Problems (MKPU-2019).
Deputy Head of the Center for Technologies in Robotics and Mechatronics Components, Doctor of Physical and Mathematical Sciences, Alexander Maloletov made a presentation entitled “Dynamics of motion and methods for positioning errors compensation of underactuated cable-driving robot”, which demonstrated a method of forward and indirect solutions for cable-driving robot controlling, considering weighted and inertial loads, influencing on the mobile platform and on the cables. This method provides acceptable robot action speed, which can be used in the robot control system.
The report also considers additional error compensation because of unaccounted factors to increase the accuracy of the mobile platform positioning.
The report was presented as a part of the project “Development of the modeling and control methods for reconfigurable cable robots taking into account elastic deformations of mechanical elements”.