Active Sway Damping for Cable-Suspended Robotic Systems with CERN Human Robot Interface Integration

This paper presents a novel Human-Robot Interface integrated control strategy for suppressing oscillations in cable-suspended robotic systems, specifically the CRANEBot at CERN. The approach leverages the robot’s arms to actively dampen oscillations through energy dissipation at each cycle, eliminating the need for modifications to the suspension platform. Experimental results demonstrate the effectiveness of the proposed method in reducing settling times and enhancing operational stability, showcasing its potential for applications in complex and hazardous environments.