Port Hamiltonian Modeling of a Cable Driven Robot

Christian Schenk, Heinrich H. Bülthoff, Burak Yüksel, Cristian Secchi

Research output: Contribution to journalArticlepeer-review

4 Citations (Scopus)


In this paper we present a generic Port-Hamiltonian (PH) model that includes cable dynamics (in particular elasticity and couplings with the platform and all cables among each other) of a cable-driven parallel robot (CDPR), which is used as a motion simulator. Moreover we consider changes in the cable parameters, i.e. it's elasticity, mass and length when the cables are wound/unwound from the winches. To the best of our knowledge nobody considered such a detailed and generic model of a CDPR in PH structure before. Since motion simulators are built to mimic systems with different physical properties, PH modeling can pave the way for physics-shaping controllers.

Original languageEnglish
Pages (from-to)161-168
Number of pages8
Journal6th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control LHMNC 2018
Issue number3
Publication statusPublished - 2018

Bibliographical note

Publisher Copyright:
© 2018


  • Cable-Driven parallel robots
  • elasticity
  • finite-element modelling
  • hybrid/switching systems

ASJC Scopus subject areas

  • Control and Systems Engineering


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