{"ID":6267111,"CreatedAt":"2026-07-10T01:11:38.759438437Z","UpdatedAt":"2026-07-13T01:02:08.706470581Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2607.08265","arxiv_id":"2607.08265","title":"X-ACTA: eXtended Analytic Center Tension distribution Algorithm for fixed and mobile cable-driven-parallel-robot","abstract":"Steering Cable-Driven Parallel Robots (CDPRs) beyond their Wrench-Feasible Workspace (WFW) augments their capabilities in challenging scenarios such as during aggressive maneuvers or following a cable failure. In this context, although the determination of cable tensions is a well-studied topic, only a few approaches address these scenarios. Therefore, this paper introduces an extended version of the Analytic Center method as a criterion for selecting cable tensions outside the WFW while maintaining differentiability and including non-linear constraints. Notably, the proposed method maintains continuous and differentiable tension profiles, ensures fast real-time convergence to a unique solution, and, in contrast to other slack-based formulations, relegates wrench errors to a negligible area of the WFW. Its superiority in terms of smoothness and wrench error is confirmed via Pareto dominance with respect to the leading state-of-the-art method. Lastly, the effectiveness of the method is demonstrated through numerical experiments.","short_abstract":"Steering Cable-Driven Parallel Robots (CDPRs) beyond their Wrench-Feasible Workspace (WFW) augments their capabilities in challenging scenarios such as during aggressive maneuvers or following a cable failure. In this context, although the determination of cable tensions is a well-studied topic, only a few approaches a...","url_abs":"https://arxiv.org/abs/2607.08265","url_pdf":"https://arxiv.org/pdf/2607.08265v1","authors":"[\"Domenico Dona'\",\"Vincenzo Di Paola\",\"Alberto Trevisani\",\"Matteo Zoppi\"]","published":"2026-07-09T09:07:56Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}