A Practical Force Correction Method for Over-Constrained Cable-Driven Parallel Robots

Cable-driven parallel robots can have a much larger workspace than other with rigid links or conventional serial robots. This property comes at the cost of more complex calculations and control schemes that are necessary to account for elasticity unilateral force transmission their cable links. In practice, most cable-driven cannot achieve full is predicted by theoretical models. due calibration errors simplified modelling assumptions in schemes.While previous works on this subject focused creating accurate models, goal work increase volume realize practice using simple model coupled new correction method robust uncertainties. The applies corrections within nullspace structure matrix order keep forces limits. Experiments show significantly when used addition basic kinematic codes. simulations combination achieves same as controllers require precise knowledge many additional parameters.