The Cable-Driven Parallel Robot is a 3-DOF robotic platform designed to move a suspended base using four stepper motors. The system is stabilized using feedback from an MPU6050 gyroscopic sensor. It supports both manual directional control via keyboard and automatic stabilization using passivity-based control (PBC). The platform has real-time feedback integration and separation of control logic for effective movement and correction.
- Microcontroller: Arduino Uno
- Motion Control: NEMA 17 Stepper Motors, CNC Shield, A4988 Drivers
- Sensors: MPU6050 (IMU)
- Programming Languages: C++, Python
- Communication: Serial over USB, I2C, Wi-Fi (ESP8266 bridge)
- Software Tools: Arduino IDE, Python (for manual control), Real-time plotting (Matplotlib), Streamlit (for visualization - optional)