@article{oh_cable_2005,
	title = {Cable suspended planar robots with redundant cables: controllers with positive tensions},
	volume = {21},
	issn = {1552-3098},
	shorttitle = {Cable suspended planar robots with redundant cables},
	doi = {10.1109/TRO.2004.838029},
	abstract = {Cable-suspended robots are structurally similar to parallel actuated robots but with the fundamental difference that cables can only pull the end-effector but not push it. From a scientific point of view, this feature makes feedback control of cable-suspended robots more challenging than their counterpart parallel-actuated robots. In the case with redundant cables, feedback control laws can be designed to make all tensions positive while attaining desired control performance. This paper presents approaches to design positive tension controllers for cable suspended robots with redundant cables. Their effectiveness is demonstrated through simulations and experiments on a three degree-of-freedom cable suspended robots.},
	number = {3},
	journal = {IEEE Transactions on Robotics},
	author = {Oh, So-Ryeok and Agrawal, S. K.},
	month = jun,
	year = {2005},
	keywords = {Actuators, Cable-suspended planar parallel robot, Cranes, Feedback control, Inspection, Manufacturing industries, Multidimensional systems, NIST, Parallel robots, Power cables, Service robots, cable suspended planar robots, cable tension, control system synthesis, end effectors, feedback, feedback control, industrial robots, long-reach robotics, mechanical variables control, positive cable tension, positive tension controller design, redundancy, redundant cables, redundant manipulators, suspensions (mechanical components)},
	pages = {457--465}
}

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