{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,17]],"date-time":"2025-10-17T14:05:21Z","timestamp":1760709921971},"reference-count":40,"publisher":"Cambridge University Press (CUP)","issue":"3","license":[{"start":{"date-parts":[[2019,6,7]],"date-time":"2019-06-07T00:00:00Z","timestamp":1559865600000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2020,3]]},"abstract":"<jats:title>Summary<\/jats:title><jats:p>Cable-driven parallel robots (CDPRs) possess a lot of advantages over conventional parallel manipulators and link-based robot manipulators in terms of acceleration due to their low inertia. This paper deals with under-constrained CDPRs, which manipulate the end-effector to carrying the payload by using a number of cables less than six, often used preferably owing to their simple structures. Since a smaller number of cables than six are used, the end-effector of CDPR has uncontrollable degrees of freedom and that causes swaying motion and oscillations. In this paper, a scheme to curb on the unwanted oscillation of the end-effector of the CDPR with three cables is proposed based on multimode input shaping. The precise dynamic model of the under-constrained CDPR is obtained to find natural frequencies, which depends on the position of the end-effector. The advantage of the proposed method is that it is practicable to generate the trajectories for vibration suppression based on multi-mode input-shaping scheme in spite of the complexity in the dynamics and the difficulty in computing the natural frequencies of the CDPR, which are required in any input-shaping scheme. To prove the effectiveness of the proposed method, computer simulations and experiments were carried out by using 3-D motion for CDPR with three cables.<\/jats:p>","DOI":"10.1017\/s0263574719000687","type":"journal-article","created":{"date-parts":[[2019,6,7]],"date-time":"2019-06-07T07:11:23Z","timestamp":1559891483000},"page":"375-395","source":"Crossref","is-referenced-by-count":20,"title":["Oscillation Reduction and Frequency Analysis of Under-Constrained Cable-Driven Parallel Robot with Three Cables"],"prefix":"10.1017","volume":"38","author":[{"given":"Sung Wook","family":"Hwang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jeong-Hyeon","family":"Bak","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jonghyun","family":"Yoon","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jong Hyeon","family":"Park","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2019,6,7]]},"reference":[{"key":"S0263574719000687_ref13","doi-asserted-by":"publisher","DOI":"10.1115\/1.4003181"},{"key":"S0263574719000687_ref31","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2013.2292451"},{"key":"S0263574719000687_ref10","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2007.908560"},{"key":"S0263574719000687_ref19","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2393173"},{"key":"S0263574719000687_ref36","doi-asserted-by":"publisher","DOI":"10.1007\/s12206-016-1139-9"},{"key":"S0263574719000687_ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2002.1011248"},{"key":"S0263574719000687_ref22","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2012.2217795"},{"key":"S0263574719000687_ref18","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-31988-4_16"},{"key":"S0263574719000687_ref17","doi-asserted-by":"publisher","DOI":"10.1007\/s11012-012-9552-3"},{"key":"S0263574719000687_ref21","doi-asserted-by":"publisher","DOI":"10.1115\/1.4024291"},{"key":"S0263574719000687_ref16","doi-asserted-by":"publisher","DOI":"10.1007\/978-90-481-9262-5_33"},{"key":"S0263574719000687_ref14","doi-asserted-by":"publisher","DOI":"10.1115\/1.4024293"},{"key":"S0263574719000687_ref35","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-61431-1_18"},{"key":"S0263574719000687_ref33","doi-asserted-by":"publisher","DOI":"10.1007\/s12206-013-0838-8"},{"key":"S0263574719000687_ref40","first-page":"1717","volume-title":"Proceedings of the 2002 American Control Conference","author":"Singh","year":"2002"},{"key":"S0263574719000687_ref23","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915595277"},{"key":"S0263574719000687_ref3","first-page":"709","article-title":"The NIST robocrane","volume":"10","author":"Albus","year":"1993","journal-title":"J. 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