Mathematic Modeling and Control of Underwater Cable-Driven Parallel Robot

Cable-driven parallel robots are mechanisms that control the position and attitude of an object using multiple cables. Typical cable-driven parallel robots have been studied for use on land, but not for use in water. This is because the position and attitude control of object and motion analysis become difficult underwater due to the large deformation of cables caused by fluid forces. In this paper, we propose an underwater cable-driven parallel robot consisting of multiple on-water robots and derive a dynamics model that considers the cable dynamics underwater. Then, we proposed a position and attitude control system for the suspended object based on the inverse kinematics problem for the suspended object and studied its effectiveness by simulation by using the planar two degrees-of-freedom underwater cable-driven parallel robot.