Trajectory control and vibration suppression of rigid‐flexible parallel robot based on singular perturbation method

In order to solve the difficult in calculating cable vibration, the non-linear dynamic model of cable was set up with geometrical non-linearity. The differential equation was solved using the singular perturbation method. The analytical expression of frequency and form function was deduced. The expression can be widely used for the field of measurement of cable force and identification of parameter in cable structure.