Contribution to the modeling of cable-suspended parallel robot hanged on the four points

This paper describes a novel mathematical model of the Cable-suspended Parallel Robot. The complex system is made to accurately carry camera in the 3D space. The geometric relationship between the camera motion in the Cartesian coordinates and motors angular positions is defined by the Jacobian matrix, which represents the solution of the kinematic problem. The solution of the calculated matrix directly depends on the system's geometry. The adopted Jacobian matrix is used for calculation of the dynamic model of the Cable-suspended Parallel Robot. Two numerical examples are used to illustrate practical usefulness of the proposed mathematical model and its validation. The final goal of this research is to ensure the accurate and highly automated guidance of the camera in 3D space with the minimal involvement of the human factor for the task generation.