Active Vibration Damping of a Cable-Driven Parallel Manipulator Using a Multirotor System

A cable-driven parallel manipulator (CDPM) is a robotic manipulator designed to control the position and/or orientation of its end effector within the system's workspace by use of actuated cables. Some configurations of cable-driven systems are inherently low in stiffness and so the end effector is prone to vibration under disturbances. In this paper, we study the feasibility of implementing a multirotor system to actively damp the translational vibration of CDPM end effectors. In a simulated experiment, the system attenuates vibration time by 80% for a 30 kg mass with a vibration frequency of 1 Hz and an undamped amplitude of 15 cm.