Compliant Tracking Control and Force Redistribution for a Portable Cable-Driven Robot

This study introduces the development of a portable cable-driven robot with a compliant trajectory tracking method that incorporates real-time and continuous positive force redistribution. Based on the dynamic model of the robot, a rapid-convergence tracking controller exhibiting variable compliance to external disturbances is designed to ensure stable trajectory tracking. A real-time, continuous positive force redistribution process is seamlessly integrated into the tracking controller to ensure that cable forces remain positive and continuous throughout the motion. Low compliance allows the robot to resist external disturbances and maintain accurate trajectory tracking. Conversely, high compliance permits the robot to temporarily sacrifice some tracking accuracy for safety and then resume tracking once the disturbance subsides. Lyapunov stability analysis is utilized to validate the stability of the control system. Experiments are conducted on the designed robot to evaluate the practical applicability of the control method. Results demonstrate the feasibility of the force redistribution without compromising trajectory tracking performance.