%0 Conference Paper %1 10.1007/978-3-031-94608-0_17 %A Reichenbach, Thomas %A Clar, Johannes %A Pott, Andreas %A Verl, Alexander %B Cable-Driven Parallel Robots %C Cham %D 2025 %E Lau, Darwin %E Pott, Andreas %E Bruckmann, Tobias %I Springer Nature Switzerland %K cable-driven isw parallel robot %P 209--221 %T Experimental Investigation on Adaptive Preload Control for Cable-Driven Parallel Robots %X This paper presents an experimental investigation of a novel control method designed to adaptively adjust the preload of cable-driven parallel robots in their nullspace. Precise motion of cable robots is challenging due to positioning errors caused by cable actuation or environmental influences. Current model-based control concepts minimize errors by identifying system-specific parameters, whereas the presented adaptive preload control (APC) method is generic, focusing on platform preload and adaptive stiffness adjustment to improve the performance of cable robots. A real-time preload parameter optimization is used to compute valid force distribution set-points, requiring only the parameterization of a force controller for integration. To evaluate the performance, the experiments follow standardized procedures, evaluating position and path repeatability and accuracy according to ISO 9283. The proposed APC method achieves improvements in path repeatability and accuracy ranging from 30\% to 58\%, compared to standard position control methods based solely on inverse kinematics. Furthermore, the investigation shows correlations between path accuracy, platform stiffness, and power consumption. %@ 978-3-031-94608-0

@inproceedings{10.1007/978-3-031-94608-0_17, abstract = {This paper presents an experimental investigation of a novel control method designed to adaptively adjust the preload of cable-driven parallel robots in their nullspace. Precise motion of cable robots is challenging due to positioning errors caused by cable actuation or environmental influences. Current model-based control concepts minimize errors by identifying system-specific parameters, whereas the presented adaptive preload control (APC) method is generic, focusing on platform preload and adaptive stiffness adjustment to improve the performance of cable robots. A real-time preload parameter optimization is used to compute valid force distribution set-points, requiring only the parameterization of a force controller for integration. To evaluate the performance, the experiments follow standardized procedures, evaluating position and path repeatability and accuracy according to ISO 9283. The proposed APC method achieves improvements in path repeatability and accuracy ranging from 30{\%} to 58{\%}, compared to standard position control methods based solely on inverse kinematics. Furthermore, the investigation shows correlations between path accuracy, platform stiffness, and power consumption.}, added-at = {2025-07-04T09:36:06.000+0200}, address = {Cham}, author = {Reichenbach, Thomas and Clar, Johannes and Pott, Andreas and Verl, Alexander}, biburl = {https://puma.ub.uni-stuttgart.de/bibtex/2a928891e37cb4e52c8c870dbf3159b54/isw-bibliothek}, booktitle = {Cable-Driven Parallel Robots}, editor = {Lau, Darwin and Pott, Andreas and Bruckmann, Tobias}, interhash = {519db743b0465fd655927372cf322deb}, intrahash = {a928891e37cb4e52c8c870dbf3159b54}, isbn = {978-3-031-94608-0}, keywords = {cable-driven isw parallel robot}, pages = {209--221}, publisher = {Springer Nature Switzerland}, timestamp = {2025-07-04T09:36:06.000+0200}, title = {Experimental Investigation on Adaptive Preload Control for Cable-Driven Parallel Robots}, year = 2025 }