Pott, AndreasAndreasPott2022-03-112022-03-112010https://publica.fraunhofer.de/handle/publica/36846110.1007/978-90-481-9262-5_57To operate and control a cable-driven parallel robot in practice one has to solve the kinematic transformation in real-time. Therefore, an algorithm is needed which can find a solution within a strictly bounded time period. Since no closed-form solution is known for parallel robots of general geometry, a combination of interval techniques and an iterative solver is proposed and implemented into the real-time control of a cable robot. Experimental results with the cable robot IPAnema are presented.enParallelkinematikSeilroboterParallelroboterIPAnemaKinematikRoboter629conference paper