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Flatness-Based Trajectory Tracking Control of an Underconstrained Cable Suspension Manipulator

  1. Thomas Heyden*,
  2. Christoph Woernle*

Article first published online: 24 NOV 2004

DOI: 10.1002/pamm.200410046

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PAMM

PAMM

Volume 4, Issue 1, pages 129–130, December 2004

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How to Cite

Heyden, T. and Woernle, C. (2004), Flatness-Based Trajectory Tracking Control of an Underconstrained Cable Suspension Manipulator. Proc. Appl. Math. Mech., 4: 129–130. doi: 10.1002/pamm.200410046

Author Information

  1. Institute of Drive Systems and Mechatronics, University of Rostock, 18051 Rostock, Germany

*Phone: +49 381 498 3093

Publication History

  1. Issue published online: 24 NOV 2004
  2. Article first published online: 24 NOV 2004

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References

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    T. Arai and B. Osumi, “Three Wire Suspension Robot,” Industrial Robot, no. 19, pp. 17–22, 1992).
  • [2]
    E. Delaleau and J. Rudolph, “Decoupling and Linearization by Quasi-Static Feedback of Generalized States,” in Proc. of the 3rd European Control Conference ECC' 95, (Rome), pp. 1069–1074, 1995).
  • [3]
    M. Fliess, J. Lévine, P. Martin, and P. Rouchon, “Differentially Flat Nonlinear Systems,” in Nonlinear Control System Design (M. Fliess, ed.), pp. 408–412, Pergamon Press, 1992).
  • [4]
    T. Maier and C. Woernle, “Dynamics and Control of a Cable Suspension Manipulator,” in The 9th German-Japanese Seminar for Nonlinear Problems in Dynamical Systems – Theory and Applications –, (Straelen, Germany), August 20 - 23, 2000.
  • [5]
    T. Maier and C. Woernle, “Flatness-Based Control of Cable Suspension Manipulators,” Automatisierungstechnik, vol. 51, no. 6, pp. 265–273, 2003, (in German).
  • [6]
    O. Sawodny, A. Aschemann, H. Lahres, and E. Hofer, “Tracking Control for Automated Bridge Cranes,” in Advances in Manufacturing (S. Tzafestas, ed.), pp. 310–320, Berlin: Springer Verlag, 1999.
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