Dynamic trajectory generation of suspended cable-driven parallel robot

This paper focuses on the trajectory planning of a fixed frame suspended Cable-Driven Parallel Robots (CDPR). The robot consists of four cables. The cables are attached to a cube moving platform at one end, and winches at the other end. The aim is to deliver the trajectory while maintaining dynamic equilibrium. The equilibrium is bounded by a set of constraints that must be satisfied. These constraints are positive tensions and error limits. Two trajectories will be studied, namely vertical oscillation and circular horizontal. It is shown that both trajectories can be executed.