Research on synchronized motion control of planar cable-driven parallel robot

To address the issue of synchronization errors that easily occur during the multi-cable cooperative driving of a planar cable-driven parallel robot (CDPR), this paper proposes a comprehensive synchronization error control method based on dynamic weighting. First, the kinematic and dynamic models of the planar CDPR are established, and the coupling relationship between the end-effector motion and cable errors is analyzed. On this basis, the synchronization errors between cables are divided into adjacent cable synchronization errors and non-adjacent cable synchronization errors. To overcome the shortcomings of traditional control methods that only focus on adjacent cable errors and fail to comprehensively reflect the overall coordination of the system, this paper introduces a dynamic weighting mechanism that adjusts the weight ratio between adjacent and non-adjacent cable errors in real time according to the operating state of the system, thereby achieving adaptive regulation of synchronization errors. Simulation results show that this method can effectively reduce the overall synchronization deviation between cables, improve system stability and motion coordination, and provide a new approach for high-precision synchronization control of the CDPR.