Papers
2025
Constrained Control of Fully-Constrained Cable-Driven Parallel Robots With Elastic Cables: An Optimal Robust Approach
The paper discusses the robust optimal control of Cable-Driven Parallel Robots (CDPRs) with elastic cables, addressing the limitations of treating cables as rigid bodies.
Enhanced maneuverability in small-scale soft robot: a shared control framework with model-based sub-controllers derived from parallel robot dynamics
This paper presents a novel shared control framework for a Snake-like Soft Robot (SSR) inspired by the dynamic modeling of a 2 Spherical-Prismatic- Spherical (2SPS) parallel robot.
Enhanced constrained optimal sliding mode control for cable-driven parallel robots
This paper introduces novel methodologies in Sliding Mode Control (SMC) for Cable-Driven Parallel Robots (CD- PRs), featuring innovative nonlinear sliding surface formulations.
2023
Robust optimal constrained control of fully-constrained cable-driven parallel robots based on GSDRE
his paper addresses constrained robust optimal control of Cable-Driven Parallel Robots (CDPRs) in detail. In the CDPRs, cables should remain in tension for all movements.
2014
Robust PID control of fully-constrained cable driven parallel robots
In this paper dynamic analysis and robust PID control of fully-constrained cable driven parallel manipu- lators are studied in detail.