Four-Wire Driven Parallel Robot Optimal Control Machine Vision Simulation for Sports Broadcasting
DOI:
https://doi.org/10.17979/ja-cea.2026.47.13742Keywords:
Cable-Driven Parallel Robots, CDPR, Optimal Control, NNLS, Computer Vision, ROS 2Abstract
This paper presents the design, physical modeling, and autonomous control of an underconstrained four-cable Cable-Driven Parallel Robot (CDPR) for sports broadcasting. A cascaded control architecture is proposed and evaluated within ROS 2 and the Gazebo physics engine. The low-level control solves the inverse dynamics problem using an asymmetrically weighted Non-Negative Least Squares (NNLS) optimizer, ensuring continuous positive tensions and mitigating cable sagging. At the high level, a hybrid perception system powered by the YOLOv8 neural network and HSV filtering tracks dynamic targets. The results validate the 6-DOF spatial stability, demonstrating that integrating Visual Servoing with Pure Pursuit trajectory planning acts as an effective inertial filter against extreme dynamics.
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Copyright (c) 2026 Mario A. Pérez, Francisco R. Rubio
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