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This paper proposes a design of a robust and a simplified dynamic model for a class of cables robots in an under-actuated mode. The objective is the use of the under-actuated mode to provide a robust dynamic model which is derived from geometric and Kinematic equations. The analysis of the system is ensured under severe constraints on the cables robot. An extension to control based on observer, by comparing two methods, is given when the observer is designed independently of the controller. The two observers are the EKE and the SODTSM Observer. High performances are shown through numerical simulation.

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