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Mechanisms and Machine Science
For cable-driven parallel robots elastic cables are used to manipulate a mobile platform in the workspace. In this paper, we present a hybrid position-force control, which allows for applying defined forces on the environment and simultaneous movement along the surface. We propose a synchronous control of the cable forces to ensure the stability of the platform during movement. The performance of the controller is experimentally investigated regarding contact establishment and dynamic behaviordoi:10.1007/978-3-319-09411-3_59 fatcat:plxzowd6erf4bmvig544tcjzpq