Planning Wrench-Feasible Motions for Cable-Driven Hexapods.

Motion paths of cable-driven hexapods must carefully be planned to ensure that the lengths and tensions of all cables remain within acceptable limits, for a given wrench applied to the platform. The cables cannot go slack-to keep the control of the robot-nor excessively tight-to prevent cable breakage-even in the presence of bounded perturbations of the wrench. This paper proposes a path-planning ...