Robust 2 1/2D Visual Servoing of a Cable-Driven Parallel Robot Thanks to Trajectory Tracking

Cable-driven parallel robots (CDPRs) are a kind of parallel robots that have cables instead of rigid links. Implementing vision-based control on CDPRs leads to a good final accuracy despite modeling errors and other perturbations in the system. However, unlike final accuracy, the trajectory to the goal can be affected by the perturbations in the system. This letter proposes the use of trajectory t...