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An On-line Continuous Cable Tension Distribution Algorithm for Cable-Driven Robot Based on Generalized Inverses

This paper presents an on-line continuous cable tension distribution algorithm for cable-driven robot (CDR), which is inspired by the distinctive property of the homogeneous solution's pseudo-inverse of the cable tensions' redundancy resolution problem. This algorithm is online oriented, i.e., the tension planning of the next cycle depends on the tension of the current cycle. The specific implementation method is to directly specify the difference in cable tension between two adjacent control cycles. The cable tension distribution problem is finally reduced to a planning problem about a certain undetermined vector. Finally, the validity and effectiveness of the proposed algorithm are verified by simulating with a three-DOF six-Cable CDR.