Based on Internal Tension Compensation Research on Control System of the Redundant Wire-Driven Parallel Manipulators

The research of wire-driven parallel manipulator mostly ignored the elasticity of the wires,but in fact elastic of the wires greatly influences the performance of control system.An dynamics model for the redundant wire-driven parallel manipulator is established,analyzing and designing the control system.An algorithm for control system of the redundant wire-driven parallel manipulator is proposed by using constant gravity and internal tension compensation,and the position control of mobile platform is realized,then the deviations of PD regulator for the control system are analyzed based on position feedback of rotation angle of the motors,and also the stability of the control system is verified,so the theory of the control system of the redundant wire-driven parallel manipulator provides basis for design and use.