  This paper presents a kinematically constrained planar hybrid cable-driven
parallel robot (HCDPR) for warehousing applications as well as other potential
applications such as rehabilitation. The proposed HCDPR can harness the
strengths and benefits of serial and cable-driven parallel robots. Based on
this robotic platform, the goal in this paper is to develop an integrated
control system to reduce vibrations and improve the trajectory accuracy and
performance 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 and
II). Finally, different case studies are conducted to evaluate the control
performance, and the results show that the controller II can achieve the goal
better.
