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This paper presents a generalized flexible Hybrid Cable-Driven Robot (HCDR).For the proposed HCDR, the derivation of the equations of motion and proofprovide a very effective way to find items for generalized system modeling. Theproposed dynamic modeling approach avoids the drawback of traditional methodsand can be easily extended to other types of hybrid robots, such as a robot armmounted on an aircraft platform.  Additionally, another goal of this paper is to develop integrated controlsystems to reduce vibrations and improve the accuracy and performance of theHCDR. To achieve this goal, redundancy resolution, stiffness optimization, andcontrol strategies are studied. The proposed optimization problem and algorithmaddress the limitations of existing stiffness optimization approaches. Threetypes of control architecture are proposed, and their performances (i.e.,reducing undesirable vibrations and trajectory tracking errors, especially forthe end-effector) are evaluated using several well-designed case studies.Results show that the fully integrated control strategy can improve thetracking performance of the end-effector significantly.

Generalized Flexible Hybrid Cable-Driven Robot (HCDR): Modeling, Control, and Analysis