Abstract
Cable-riding suspended systems are commonplace, with applications ranging from ski lifts to tramways to material movers in mining operations. Another, more recent application is the robotic inspection using robots that ride along the cables which they are inspecting. Expliner is one such robotic device. It rides along live, high-voltage power lines for inspection of them. For all of these cable-suspended systems, rocking oscillation can reduce safety and efficiency of operation. This paper presents a model to identify the key dynamic factors of this rocking motion, including a simple model of wind-based disturbances. A command-shaping controller is used to limit rocking from both commanded motion along the cable and controlled center-of-mass shifts.
