Redundant suspended cable-driven parallel robots (CDPRs) offer significant advantages in terms of large workspaces, high payload capacities, and lightweight construction. However, their performance is often constrained by the unidirectional nature of cable forces and the need for continuous positive cable tension. This paper introduces a novel online time-optimal force distribution algorithm for redundant suspended CDPRs, considering the end-effector as a point mass, that maximizes force in the desired direction, respecting actuator limits and ensuring positive cable tensions. This is achieved through an efficient iterative optimization that utilizes the Jacobian’s null space to maintain cable tension continuity. The algorithm is experimentally validated on a physical 3-DOF, 4-cable suspended CDPR, the ARAS-Cam, using MATLAB/Simulink Real-Time. Results demonstrate the robot’s ability to accurately track desired trajectories while strictly adhering to cable tension and actuator constraints. While limitations were observed in tracking high-frequency inputs due to actuator bandwidth limitations, the proposed method provides a real-time and efficient solution for online force distribution, enabling more effective utilization of redundant suspended CDPRs in practical applications. Furthermore, the modular design allows for integration into other controllers, highlighting its versatility and potential for broader applications in cable-driven robotics.