Cable-driven parallel robots (CDPRs) have low moving inertia and provide high-speed motion over a large workspace. The main challenges of CDPRs stem from the fact that cables should be in tension during motion control. Cable tension is closely related to the synchronization motion relation between cables which is often omitted in the existing controllers for CDPRs. To solve it, this paper proposes two synchronization controllers in the cable space to realize the synchronization motion between cables, and finally increase the tracking accuracy of the moving platform. The two synchronization controllers are proven to guarantee asymptotic convergence to zero of both tracking error and synchronization error. The trajectory tracking experiments are implemented on a self-built three-DOF CDPR, and the experiments are compared with the traditional augmented proportional-derivative controllers neglecting synchronization. The experimental results indicate that the tracking error and the synchronization error of the moving platform decrease greatly by using the synchronization controllers.

中文翻译：

---

电缆驱动并联机器人电缆空间同步控制

电缆驱动的并联机器人 (CDPR) 具有低移动惯性，可在大工作空间内提供高速运动。CDPR 的主要挑战源于在运动控制期间电缆应处于张力状态这一事实。缆索张力与缆索之间的同步运动关系密切相关，而现有的CDPR控制器往往忽略了这一点。为解决该问题，本文提出在缆索空间中采用两个同步控制器来实现缆索之间的同步运动，最终提高移动平台的跟踪精度。两个同步控制器被证明可以保证跟踪误差和同步误差渐近收敛到零。轨迹跟踪实验在自建的三自由度 CDPR 上实现，并将实验与忽略同步的传统增广比例微分控制器进行比较。实验结果表明，采用同步控制器后，移动平台的跟踪误差和同步误差大大降低。