Self-Feedback Motion Control for Cable-Driven Parallel Manipulators

Weihai Chen, Xiang Cui, Guilin Yang, Jingyuan Chen, Yan Jin

Research output: Contribution to journalArticlepeer-review

7 Citations (Scopus)


This article proposes a closed-loop control scheme based on joint-angle feedback for cable-driven parallel manipulators (CDPMs), which is able to overcome various difficulties resulting from the flexible nature of the driven cables to achieve higher control accuracy. By introducing a unique structure design that accommodates built-in encoders in passive joints, the seven degrees of freedom (7-DOF) CDPM can obtain joint angle values without external sensing devices, and it is used for feedback control together with a proper closed-loop control algorithm. The control algorithm has been derived from the time differential of the kinematic formulation, which relates the joint angular velocities to the time derivative of cable lengths. In addition, the Lyapunov stability theory and Monte Carlo method have been used to mathematically verify the self-feedback control law that has tolerance for parameter errors. With the aid of co-simulation technique, the self-feedback closed-loop control is applied on a 7-DOF CDPM and it shows higher motion accuracy than the one with an open-loop control. The trajectory tracking experiment on the motion control of the 7-DOF CDPM demonstrated a good performance of the self-feedback control method.
Original languageEnglish
Article numberJournal impact factor: 0.589
Pages (from-to)77-89
JournalProceedings of the institute of mechanical engineers Part C: Journal of Mechanical engineering science
Issue number1
Early online date20 Mar 2013
Publication statusPublished - Jan 2014


  • Control
  • Cable-Driven Parallel Manipulator


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