{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,17]],"date-time":"2026-03-17T05:16:47Z","timestamp":1773724607403,"version":"3.50.1"},"reference-count":21,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2020,5,27]],"date-time":"2020-05-27T00:00:00Z","timestamp":1590537600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100002723","name":"Allianz Industrie Forschung","doi-asserted-by":"publisher","award":["20061 BG"],"award-info":[{"award-number":["20061 BG"]}],"id":[{"id":"10.13039\/501100002723","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>Under special circumstances, a cable-driven parallel robot (CDPR) may leave its wrench-feasible-workspace. Standard approaches for the computation of set-point cable forces are likely to fail in this case. The novel nearest corner method for calculating appropriate cable forces when the CDPR is outside of its wrench-feasible-workspace was introduced in former work of the authors. The obtained cable force distributions aim at continuity and generate wrenches close to the desired values. The method employs geometrical operations in the cable force space and promises real-time usability because of its non-iterative structure. In a simplified simulation, a cable break scenario was used to carry out more detailed testing of the method regarding different parameters, a higher number of cables, and the numerical efficiency. A brief discussion about the continuity of the method when entering the wrench-feasible-workspace is presented.<\/jats:p>","DOI":"10.3390\/robotics9020041","type":"journal-article","created":{"date-parts":[[2020,5,28]],"date-time":"2020-05-28T10:02:45Z","timestamp":1590660165000},"page":"41","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":11,"title":["Real-Time Cable Force Calculation beyond the Wrench-Feasible Workspace"],"prefix":"10.3390","volume":"9","author":[{"given":"Roland","family":"Boumann","sequence":"first","affiliation":[{"name":"Chair of Mechatronics, University of Duisburg-Essen, Forsthausweg 2, 47057 Duisburg, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0271-6737","authenticated-orcid":false,"given":"Tobias","family":"Bruckmann","sequence":"additional","affiliation":[{"name":"Chair of Mechatronics, University of Duisburg-Essen, Forsthausweg 2, 47057 Duisburg, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2020,5,27]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Bruckmann, T., Mattern, H., Spengler, A., Reichert, C., Malkwitz, A., and K\u00f6nig, M. 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Analysis of the Workspace of Tendon-Based Stewart Platforms. [Ph.D. Thesis, University of Duisburg-Essen]."},{"key":"ref_17","doi-asserted-by":"crossref","unstructured":"Lennar\u010di\u010d, J., and Roth, B. (2006). Calculating force distributions for redundantly actuated tendon-based Stewart platforms. Advances in Robot Kinematics, Springer.","DOI":"10.1007\/978-1-4020-4941-5"},{"key":"ref_18","doi-asserted-by":"crossref","unstructured":"Mikelsons, L., Bruckmann, T., Hiller, M., and Schramm, D. (2008, January 19\u201323). A real-time capable force calculation algorithm for redundant tendon-based parallel manipulators. Proceedings of the IEEE International Conference on Robotics and Automation, Pasadena, CA, USA.","DOI":"10.1109\/ROBOT.2008.4543805"},{"key":"ref_19","unstructured":"Spong, M.W., Hutchinson, S., and Vidyasagar, M. (2005). Robot Modeling and Control, Wiley."},{"key":"ref_20","doi-asserted-by":"crossref","unstructured":"Pott, A., and Bruckmann, T. (2014). Analysis of a Real-Time Capable Cable Force Computation Method. Cable-Driven Parallel Robots, Springer.","DOI":"10.1007\/978-3-319-09489-2"},{"key":"ref_21","doi-asserted-by":"crossref","unstructured":"Pott, A. (2013). An improved force distribution algorithm for over-constrained cable-driven parallel robots. Computational Kinematics, Springer.","DOI":"10.1007\/978-94-007-7214-4_16"}],"container-title":["Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2218-6581\/9\/2\/41\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T09:33:03Z","timestamp":1760175183000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2218-6581\/9\/2\/41"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,5,27]]},"references-count":21,"journal-issue":{"issue":"2","published-online":{"date-parts":[[2020,6]]}},"alternative-id":["robotics9020041"],"URL":"https:\/\/doi.org\/10.3390\/robotics9020041","relation":{},"ISSN":["2218-6581"],"issn-type":[{"value":"2218-6581","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,5,27]]}}}