Control of an Underactuated 4 Cable-Driven Parallel Robot using Modified Input-Output Feedback Linearization

This paper presents the control of an underactuated four Cable-Driven Parallel Robot (CDPR) using a modified input-output feedback linearization technique. The effect of internal dynamics (due to the underactuated degrees of freedom of the CDPR) on the behavior of the moving platform is presented to highlight the need of an improved controller to stabilize the system outputs. A modified control scheme is then proposed as a solution to obtain stable system outputs. A structure with two separate branches modeled to simultaneously act on the control inputs and the mathematical calculations are done using the well-established equations of nonlinear control theory. Following this, the response of the system to modified control law is then verified by simulation. A comparison between the classical and modified feedback linearization shown to illustrate the significant improvementProjet Robotix-Academ

Aerial Manipulation: A Literature Review

Aerial manipulation aims at combining the versatil- ity and the agility of some aerial platforms with the manipulation capabilities of robotic arms. This letter tries to collect the results reached by the research community so far within the field of aerial manipulation, especially from the technological and control point of view. A brief literature review of general aerial robotics and space manipulation is carried out as well