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This work introduced a strategy for determining the force distribution of a cable driven parallel robot (CDPR) that minimizes the total sum of cable forces for a desired translational acceleration. An iterative extension reducing the maximum cable force while improving continuity is presented. The proposed algorithm eliminates the need for an optimization, enabling real-time application. The strategy is designed for Cartesian force control at the end-effector and is demonstrated through a simulation setup of a planar CDPR with two translational DoF actuated by four and six motor-driven winches.

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Energy Based Force Distribution and Control of a Cable Robot Using Exact Linearization

  • 会议论文

  • 发表日期：

    2025年

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  • David Winter,
  • Julius Brandl,
  • Marcus Hamann,
  • Christoph Ament

摘要

This work introduced a strategy for determining the force distribution of a cable driven parallel robot (CDPR) that minimizes the total sum of cable forces for a desired translational acceleration. An iterative extension reducing the maximum cable force while improving continuity is presented. The proposed algorithm eliminates the need for an optimization, enabling real-time application. The strategy is designed for Cartesian force control at the end-effector and is demonstrated through a simulation setup of a planar CDPR with two translational DoF actuated by four and six motor-driven winches.