The kinematics problems of 9 DOF cable driven robotic crane.

In this paper the status of ongoing project is presented. The 9-DOF cable driven robot has been developed. Platform hung under the ceiling, uses gravity to maintain tension in cables. Over a limited range of motion and orientations the cable driven platform can be controlled to be stiff and stable in six DOF. The extra three DOF that are in charge of moving anchor points make the robot redundant and give extended maneuverability to easily avoid obstacles. The kinematics problems have been described. The simple solution of calculating the inverse kinematics equations has been given. The very fast method of estimating the approximate result of direct kinematics problem has been proposed.