This paper presents a method for dynamic adjustment of cable preloads based on the actuation redundancy of \acp{CDPR}, which allows increasing or decreasing the platform stiffness depending on task requirements. This is achieved by computing preload parameters with an extended nullspace formulation of the kinematics. The method facilitates the operator's ability to specify a defined preload within the operation space. The algorithms are implemented in a real-time environment, allowing for the use of optimization in hybrid position-force control. To validate the effectiveness of this approach, a simulation study is performed, and the obtained results are compared to existing methods. Furthermore, the method is investigated experimentally and compared with the conventional position-controlled operation of a cable robot. The results demonstrate the feasibility of adaptively adjusting cable preloads during platform motion and manipulation of additional objects.

翻译：本文提出了一种基于绳驱动并联机器人(CDPR)驱动冗余特性的缆索预紧力动态调整方法，可根据任务需求增强或降低平台刚度。该方法通过扩展运动学零空间公式计算预紧参数，使操作者能在工作空间内指定特定的预紧力。算法在实时环境中实现，可结合混合位置-力控制进行优化。为验证该方法的有效性，开展了仿真研究，并将结果与现有方法进行对比。此外，通过实验研究将该方法与常规位置控制模式下的缆索机器人操作进行比较。结果表明，在平台运动及附加物体操控过程中自适应调整缆索预紧力具有可行性。