Optimal Force Allocation for Overconstrained Cable-Driven Parallel Robots: Continuously Differentiable Solutions With Assessment of Computational Efficiency

In this article, we present a novel method for force allocation for overconstrained cable-driven parallel robot setups that guarantees continuously differentiable cable forces and allows for small penalized errors in the resulting wrench. For the latter, we also provide a bound on the error under some assumptions. We study real-time feasibility by performing numerical simulations on a large set of configurations