Real-Time Tension Distribution Design for Cable-Driven Parallel Robot

In this study, we investigated dynamic control strategies for over-constrained cable-driven robots. order to a robot, it is essential address issues that arise from the restriction of cable tension, as well redundancy an system. contrast previous research required consideration relationship between tension constraints and computed wrench in distribution problems, developed function incorporates hyperbolic tangent function, which allows always satisfy eliminates at each step. The gradient descent method was applied determine appropriate wrench. manage optimization achieving objectives such energy conservation, provide practical simultaneously realize necessary distribution. Compared with studies focus on complex analysis structure matrix solve problem, issue handled straightforward manner our method, providing solutions other discontinuity calculated wrench, requirements changing cable’s force level during movement. simulation results comparison methods show effectiveness method.