Dynamic trajectory planning of reconfigurable suspended cable robot

Adlina Taufik Syamlan, Latifah Nurahmi*, Mohamad Nasir Tamara, Bambang Pramujati

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

6 Citations (Scopus)


This paper focuses on the dynamic trajectory planning of reconfigurable suspended cable robot. By using the approach of the dynamic equilibrium of suspended cable robot, a set of constraint equations are derived. These equations represent the cable tensions in terms of the cable directions, moving-platform payload and the instantaneous position of the moving-platform. While fulfilling the dynamic equilibrium, the position of cable contact points are reconfigured thanks to the pulley mechanism. Through the pulley reconfiguration, the robot may adapt its tension to be always positive while executing the task for a given trajectory. Two robot structures will be compared for various parametric trajectories. A prototype has been fabricated for both robot structures to demonstrate the tension distributions along the trajectory.

Original languageEnglish
Pages (from-to)887-897
Number of pages11
JournalInternational Journal of Dynamics and Control
Issue number3
Publication statusPublished - 1 Sept 2020


  • Cable robot
  • Dynamics
  • Pulley mechanism
  • Reconfigurable
  • Trajectory planning


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