Cable suspended robotic system

A cable-suspended robotic system comprising:

• a plurality of spools, each spool containing deployable cable;
• at least one spool motor coupled to each spool of deployable cable, each spool motor coupled to a respective motor controller;
• a cable positioned device coupled to one end of each of the deployable cables;
• and
• a control system in communication with the motor controllers, the control system comprising one or more processors and a data store coupled to the one or more processors having instructions stored thereon which, when executed by the one or more processors, causes the one or more processors to perform operations comprising:
• obtaining a three-dimensional (3D) model of an operating volume for the cable positioned device, the operating volume defined at least in part by a plurality of cable support structures, wherein the 3D model comprises a mathematical coordinate system representing the operating volume;
• identifying, within the 3D model, a position of the cable positioned device suspended from the deployable cables;
• determining, based on data from one or more sensors, a location of an object that obstructs a path of the cable positioned device within the operating volume;
• determining the position of the cable positioned device relative to the object by correlating the location of the object within the operating volume to coordinates of the 3D model;
• and
• controlling one or more of the motor controllers to navigate the cable positioned device within the operating volume.

A non-transitory computer readable storage medium storing instructions that, when executed by at least one processor, cause the at least one processor to perform operations comprising:

• obtaining a three-dimensional (3D) model of an operating volume for a cable-suspended robotic system, the operating volume defined at least in part by a plurality of cable support structures, wherein the 3D model comprises a mathematical coordinate system representing the operating volume;
• identifying, within the 3D model, a position of a cable positioned device suspended from a plurality of cables;
• determining, based on data from one or more sensors, a location of an object that obstructs a path of the cable positioned device within the operating volume;
• determining the position of the cable positioned device relative to the object by correlating the location of the object within the operating volume to coordinates of the 3D model;
• and
• controlling one or more cable motors to navigate the cable positioned device within the operating volume.