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In this paper, redundancy resolution of a cabledriven parallel manipulator is solved by an analytic-iterative scheme. The method can be applied to all kind of redundant manipulators with some constraints due to their dynamics. However, in the simulation given in this paper the proposed method is implemented on a special cable-driven redundant parallel manipulator (CDRPM). The redundancy resolution problem is formulated as a convex optimization with equality and inequality constraints imposed bydoi:10.1109/tro.2011.2163433 fatcat:e2qaibf4ezg3xooyjo6yb52xti