Kinematics-Inertial Fusion for Localization of a 4-Cable Underactuated Suspended Robot Considering Cable Sag

This article discusses the challenges of estimating the end-effector pose for Suspended Cable-Driven Parallel Robots (SCDPR), due to the curved shape of cables known as cable sag. The proposed real-time pose estimation algorithm considers cable sag to reduce estimation errors and also employs an Inertial Measurement Unit (IMU) to improve accuracy for dynamic motion. The approach reduces Root Mean Squared Error (RMSE) compared to standard methods and is evaluated on a real system with ground truth pose information.