  This paper presents a generalized flexible Hybrid Cable-Driven Robot (HCDR).
For the proposed HCDR, the derivation of the equations of motion and proof
provide a very effective way to find items for generalized system modeling. The
proposed dynamic modeling approach avoids the drawback of traditional methods
and can be easily extended to other types of hybrid robots, such as a robot arm
mounted on an aircraft platform.
  Additionally, another goal of this paper is to develop integrated control
systems to reduce vibrations and improve the accuracy and performance of the
HCDR. To achieve this goal, redundancy resolution, stiffness optimization, and
control strategies are studied. The proposed optimization problem and algorithm
address the limitations of existing stiffness optimization approaches. Three
types of control architecture are proposed, and their performances (i.e.,
reducing undesirable vibrations and trajectory tracking errors, especially for
the end-effector) are evaluated using several well-designed case studies.
Results show that the fully integrated control strategy can improve the
tracking performance of the end-effector significantly.
