Abstract

A cable array robotic system and apparatus for applications such as cargo handling at sea and pallet handling in manufacturing, based on a multi-cable robotic control system is disclosed. The cables are deployed from three or more folding, telescoping masts at the corners of a work area. The cables attach to an end-effector (e.g. a spreader mechanism) that grips an object (e.g. a container) and affects desired movements as directed by an operator through a computer controlled graphical user interface using pointing directives such as “put that there”. Various sensors and cameras enable a high degree of control over the end-effector (e.g. spreader or pallet) as it is moved from place to place. Sufficient control is possible so that the present cargo handling system may unload, without pendulation, the deck and hold of a ship onto a sea-going lighter during sea state three conditions in a container handling application at sea.

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