A Practical Force Correction Method for Over-Constrained Cable-Driven Parallel Robots

Cable-driven parallel robots can have a much larger workspace than other parallel robots with rigid links or conventional serial robots. This property comes at the cost of more complex workspace calculations and control schemes that are necessary to account for the elasticity and unilateral force transmission of their parallel cable links. In practice, most cable-driven parallel robots cannot achieve the full workspace that is predicted by theoretical models. This is due to calibration errors and simplified modelling assumptions in the control schemes.