Overview of Dynamic Modeling and Control for Cable-driven Robots

doi:10.3901/JME.2025.19.001

Abstract

Abstract: Cable-driven robots have attracted significant attention from researchers due to their advantages of low inertia, light weight, and extensive operational range. However, the inherent flexibility of cables and their unidirectional force transmission characteristics pose challenges for precise control. Achieving efficient and accurate motion control requires in-depth research on cable tension distribution, robot dynamics, and control strategies. This research reviews the research progress in the field of cable-driven robots. Firstly, it focuses on tension computation and optimization methods, including null-space method, geometric method, and least-squares method, comparing their advantages, disadvantages, and applicable scenarios. Secondly, it summarizes advancements in dynamic modeling approaches, such as the Lagrange method, Newton-Euler method, and the principle of virtual work, evaluating their strengths and weaknesses in modeling the dynamics of cable-driven continuum robots. Thirdly, it reviews the progress in control strategies for cable-driven robots, comparing model-based and model-free control approaches. Finally, the current state of research is summarized, and future development trends in cable-driven robots are discussed.

Key words: cable-driven robots, tension analysis, dynamic modeling, control strategies

CLC Number:

TP242

CHEN Yanlin, DENG Xiaoheng, ZHANG Xianmin, HUANG Yanjiang. Overview of Dynamic Modeling and Control for Cable-driven Robots[J]. Journal of Mechanical Engineering, 2025, 61(19): 1-17.

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