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This paper presents analysis of the workspace of planar and spatial redundant cable robots by using two analytical approaches. The first one is based on linear algebra; it can include the upper limits for tension in cables as an important factor in optimum design of cable robots in order to find the largest possible workspace. The second approach is based… (More)
This paper develops an analytical approach for the workspace analysis of redundant cable robots with consideration of two types of interference. Both types of interference, cable/cable and cable/platform, are taken into account with important limiting factors for 2D and 3D cable robots with any number of redundancy. Simulation results are presented to show… (More)
This paper introduces a controller for cable robots with redundant cables under input constraints. The controller is based on input-output feedback linearization and linear model predictive control (LMPC). The effectiveness of the proposed method is illustrated by numerical simulation.