7. Control laws
The prototype studied has four cables for three modules. This actuation makes it possible to choose, within the limits of the workspace, the α configuration of the various modules. The dynamic model of the prototype has been established and will be used in the control law. This is shown in figure 22 . Our objective will be to calculate the vector of the four forces applied by the motors in the cables leaving the winder, so that the three modules follow their setpoints α d . To highlight the contribution of modeling to the control of our system, we will compare the results obtained with different models.
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Control laws
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