A Cable-Driven Parallel Robot (CDPR) is a system, which is using elastic cables in a parallel structure (instead of rigid serial links) to move a platform in its Cartesian space. These cables are connected at one end to the platform and at the other end to a series of grounded winches (consisting of motors and pulleys), which are used to wind and unwind the cables. By doing so the position and orientation of the platform is manipulated.
In our research we study different modeling and control techniques for CDPRs. Recently our work on Port Hamiltonian (PH) modeling of such system has been accepted to be published.
For more information see here.
Flying (aerial) robots are in the focus of robotics society for about two decades, due to their great workspace (they can operate in 3D space), and agility (especially those with underactuation, e.g. quadrotors).
In our research we develop advanced control methods for these highly unstable and nonlinear systems, and further implement these sophisticated methods. Our research further focuses on the physical interaction and manipulation with aerial robots, i.e. we design and develop novel tools e.g. manipulating arms and novel control methods for them, so that these flying robots can perform physical interaction and manipulation tasks while performing a stable flight. Examples for such tasks are various: transportation of different objects with aerial robots, surface inspection and operation in hazardous environments.
For more information see here.