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This paper presents a kinematically constrained planar hybrid cable-drivenparallel robot (HCDPR) for warehousing applications as well as other potentialapplications such as rehabilitation. The proposed HCDPR can harness thestrengths and benefits of serial and cable-driven parallel robots. Based onthis robotic platform, the goal in this paper is to develop an integratedcontrol system to reduce vibrations and improve the trajectory accuracy andperformance of the HCDPR, including deriving kinematic and dynamic equations,proposing solutions for redundancy resolution and optimization of stiffness,and developing two motion and vibration control strategies (controllers I andII). Finally, different case studies are conducted to evaluate the controlperformance, and the results show that the controller II can achieve the goalbetter.

Modeling, Vibration Control, and Trajectory Tracking of a Kinematically Constrained Planar Hybrid Cable-Driven Parallel Robot