Kraus, WernerWernerKrausMiermeister, PhilippPhilippMiermeisterSchmidt, ValentinValentinSchmidtPott, AndreasAndreasPott2022-03-052.12.20152015https://publica.fraunhofer.de/handle/publica/24156410.24406/publica-r-24156410.5194/ms-6-119-2015For cable-driven parallel robots elastic cables are used to manipulate a mobile platform in the workspace. In this paper, we present a hybrid position-force control, which allows for applying defined forces on the environment and simultaneous movement along the surface. We propose a synchronous control of the cable forces to ensure the stability of the platform during movement. The performance of the controller is experimentally investigated regarding contact establishment and dynamic behavior during a motion on the cable robot IPAnema 3.enIndustrieroboterRoboterCable-driven parallel robotParallelroboterIPAnemaForce controlRedundant RobotContact Controljournal article