Workspace analysis is one of the most important issues in the robotic parallel manipulator design. ‎However, ‎the unidirectional constraint imposed by cables causes this analysis more challenging in the cabledriven redundant parallel manipulators. Controllable workspace is one of the general workspace in the cabledriven redundant parallel manipulators due to the dependency on geometry parameter...

A flexible operation of multiple robotic manipulators operating in a dynamic environment requires online trajectory planning to ensure collision-free trajectories. In this work, we propose real-time capable motion control algorithm, based on nonlinear model predictive control, which accounts for static and obstacles. The proposed algorithm is realized distributed scheme, where each robot optimi...