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<p>A three-cable suspension manipulator is an underactuated mechanical system designed to transport a payload precisely within a workspace. This study addresses its inverse dynamics problem using servo constraints, leading to a high-index system of differential-algebraic equations (DAEs). To overcome the numerical challenges, the index reduction by minimal extension method is applied to the servo constraint problem of the differentially flat system. The proposed approach facilitates precise trajectory tracking and serves as a foundation for implementing feedforward and feedback control strategies in future developments.</p>

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Computer simulation of the inverse dynamics of a three-cable suspension manipulator

  • 期刊论文

  • 发表日期：

    2025年11月5日

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  • Yinping Yang,
  • Peter Betsch,
  • Wei Zhang

摘要

A three-cable suspension manipulator is an underactuated mechanical system designed to transport a payload precisely within a workspace. This study addresses its inverse dynamics problem using servo constraints, leading to a high-index system of differential-algebraic equations (DAEs). To overcome the numerical challenges, the index reduction by minimal extension method is applied to the servo constraint problem of the differentially flat system. The proposed approach facilitates precise trajectory tracking and serves as a foundation for implementing feedforward and feedback control strategies in future developments.