Experimental validation of control concepts

Flatness-based feedforward control (non-linear) and linear state feedback

Position measurement of the platform using inertial sensors

Moving payloads in space using multiple cables with independently controllable cable winches

Combining the advantages of robots and cranes:
+ Up to six degrees of freedom of movement
+ Guiding along desired spatial movement paths
+ High positioning accuracy
+ Large payloads
+ Large workspace

Kinematically indeterminate load guidance leads to load oscillations
+ Stabilization through closed-loop control