Force-Distribution Sensitivity to Cable-Tension Errors: A Preliminary Investigation

In order to control cable-driven parallel robots (CDPRs), it is necessary keep all cable tensions within (positive) known limits during motion. For CDPRs having more cables than end-effector degrees of freedom, a feasible force distribution should be computed beforehand. This paper aims at evaluating how tension error in one affects the overall other cables, by focusing on planar overconstrained with four cables. The whose limitedly impact analytically determined computing right nullspace manipulator structure matrix. It then shown least influencing changes throughout wrench-feasible workspace. Lastly, results proposed analysis are used perform motion-control experiment prototype, where, for any configuration end-effector, tension-controlled, while remaining ones length-controlled.