The influence of discrete-time control on the kinematico-static behavior of cable-driven parallel robot with elastic cables

Robots are controlled with a discrete-time controller that includes a highlevel loop for motion control and a faster internal loop that controls the actuators. We intend to simulate the behavior of the whole chain for a cable-driven parallel robot (CDPR) with linear elastic cables and we will show that such a simulation cannot be performed using classical simulation tools. We exhibit a simulation algorithm which computes exactly the pose and cable tensions on a given trajectory. As an example we consider a redundantly actuated robot with 8 cables. We show that the discrete-time control has a moderate influence on the accuracy of the positioning but a very large influence on the cable tensions.