Design and manufacturing of the cable driven parallel manipulators is emerging in the late decade due to numerous advantages of these robots compared to the other parallel manipulators and serial robots . One of the challenging problems in these robots is the accuracy of tracking, which is highly affected by the elasticity of the cables. In this project, dynamic modeling of the cable driven parallel manipulators, KNTU CDRPM as an instance, considering the elasticity of the cables and then proposing an effective controller based on the obtained model, is studied. At first, the stability analysis of the integrated controller for the rigid robot is proposed using the Lyapunov theory. Then, with a step toward the final goal of this research i.e. control of the flexible robot, a robust controller is designed considering the uncertainty of the Jacobian matrix. One of the problems arising from the elasticity of cable links is the change in the angle of attachment point of the cables to the end effector, and this causes uncertainty of the Jacobian matrix. Hence, a nonlinear robust controller is designed against uncertainty of the Jacobian and Gravity matrices and external
disturbances. The method of Lyapunov Redesign is extended for the controller design to solve the problems arising from the direct use of this design method. This new design, not only alleviates the chattering in the control signal, but also guarantees the asymptotic stability of the closed loop system. Effectiveness of this controller is verified with simulations on the robot model. In the next step for the modeling of flexible robot, the cable is modeled as a linear spring. Then, applying the theory of Singular Perturbations, an appropriate model is proposed for the flexible robot that can relieve the design of controller. Next, employing the designed controller for the rigid robot, a hybrid controller is designed for the system. Simulations indicate that the rigid controller can not stabilize the system involving elasticity, whereas the proposed hybrid controller can control the system effectively.