{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,25]],"date-time":"2026-03-25T18:00:18Z","timestamp":1774461618180,"version":"3.50.1"},"reference-count":38,"publisher":"Cambridge University Press (CUP)","issue":"7","license":[{"start":{"date-parts":[[2021,12,7]],"date-time":"2021-12-07T00:00:00Z","timestamp":1638835200000},"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":[[2022,7]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>A non-iterative analytical approach is investigated to plan the safe wire tension distribution along with the cables in the redundant cable-driven parallel robots. The proposed algorithm considers not only tracking the desired trajectory but also protecting the system against possible failures. This method is used to optimize the non-negative wire tensions through the cables which are constrained based on the workspace conditions. It also maintains both actuators\u2019 torque and cables\u2019 tensile strength boundary limits. The pseudo-inverse problem solution leads to an<jats:italic>n<\/jats:italic>-dimensional convex problem, which is related to the robot degrees of redundancy. In this paper, a comprehensive solution is presented for a 1\u20133 degree(s) of redundancy in wire-actuated robots. To evaluate the effectiveness of this method, it is verified through an experimental study on the RoboCab cable robot in the infinity trajectory tracking task. As a matter of comparison, some standard methods like Active-set and sequential quadratic programming are also presented and the average elapsed time for each method is compared to the proposed algorithm.<\/jats:p>","DOI":"10.1017\/s0263574721001703","type":"journal-article","created":{"date-parts":[[2021,12,7]],"date-time":"2021-12-07T06:15:16Z","timestamp":1638857716000},"page":"2395-2408","source":"Crossref","is-referenced-by-count":14,"title":["Rapid and safe wire tension distribution scheme for redundant cable-driven parallel manipulators"],"prefix":"10.1017","volume":"40","author":[{"given":"Mohammad Reza","family":"Mousavi","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Masoud","family":"Ghanbari","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"S. Ali A.","family":"Moosavian","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2462-8217","authenticated-orcid":false,"given":"Payam","family":"Zarafshan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2021,12,7]]},"reference":[{"key":"S0263574721001703_ref38","doi-asserted-by":"publisher","DOI":"10.1115\/1.4000558"},{"key":"S0263574721001703_ref24","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-61431-1_23"},{"key":"S0263574721001703_ref8","first-page":"3869","volume-title":"2008 IEEE International Conference on Robotics and Automation","author":"Mikelsons"},{"key":"S0263574721001703_ref28","first-page":"129","volume-title":"International Conference on Cable-Driven Parallel Robots","author":"Mattioni"},{"key":"S0263574721001703_ref22","first-page":"1","article-title":"Smallest maximum cable tension determination for cable-driven parallel robots","volume":"37","author":"Hussein","year":"2020","journal-title":"IEEE Trans. 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