Feedforward Positioning Using Desired Internal Force For Fully Constrained Parallel Wire Driven System: The First Report, Translational Control of Three Wires Planar System

摘要

We describe feedforward positioning for the fully constrained parallel wire driven system. This control method can achieve the positioning by inputting desired internal force. In this paper, the motion stability is analyzed based on the Lyapunov function. Then, motion convergence is proven in the case using three wires planar system as the first step.