Published July 10, 2022
| Version v1
Conference paper
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First Steps Towards a Cable-Driven Parallel Robot for Naval Operations
Description
This paper focuses on the study of a cable-driven parallel robot (CDPR) for the automated handling of payloads from a ship. Handling operations are performed at sea, under calm to mild weather conditions, thus both the payload and the ship (on which the robot is installed) may possess oscillatory motions. The tasks the robot has to perform are (i) payload autonomous tracking and picking on the sea surface, and (ii) payload lifting. Robot and task modelling are introduced, as well as the controllers used to achieve such operations.