In this paper dynamic analysis and robust PID control of fully-constrained cable driven
parallel manipulators are studied in detail. Since in this class of manipulators cables should
remain in tension for all maneuvers in their workspace, feedback control of such robots
becomes more challenging than that of conventional parallel robots. In this paper, structured
and unstructured uncertainties in dynamics of the robot are considered and a robust PID
controller is proposed for the cable robot. To ensure that all cables remain in tension internal …