An Improved Force Distribution Algorithm for Over-Constrained Cable-Driven Parallel Robots

  • Andreas PottEmail author
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 15)


In this paper we present an improved method to compute force distributions for cable-driven parallel robots. We modify the closed-from solution such that the region where a solution is found is extended almost to the theoretical maximum, i.e. the wrench-feasible workspace. At the same time continuity along trajectories as well as real-time efficiency are maintained. The algorithm’s complexity and thus the computational burden scales linearly in the number of redundant cables. Therefore, the algorithm can also be used for highly redundant cable robots. The proposed algorithm is compared to known methods and computational results are presented based on the IPAnema prototype.


Cable-driven robots Force distribution Closed-form Real-time 



This work was partially supported by Fraunhofer-Gesellschaft Internal Programs under Grant No. WISA 823 244. Furthermore, the research leading to these results received founding for the European Community’s Seventh Framework Program under grant agreement number NMP2-SL-2011-285404-CableBot.


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Copyright information

© Springer Science+Business Media Dordrecht 2014

Authors and Affiliations

  1. 1.Fraunhofer IPAStuttgartGermany

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