Analysis of a real-time capable cable force computation method

Abstract

This paper deals with the problem of computing minimum feasible cable force distributions for redundantly actuated cable-driven parallel robots. In this context, the known Closed Form Method as well as its limitations are presented and potential improvements are identified. This finally leads to an approach called Improved Puncture Method. Then the methods are analyzed regarding their covered workspace, the resulting cable force distributions and the needed computation time. Finally the Improved Puncture Method was implemented into the augmented PD controller and run on the SEGESTA prototype.