Force Distribution in a Cable Driven Parallel Robot

[AmirSamanMirjalili]

Hi,

I’m a robotics researcher working with MuJoCo, and I’m trying to model a planar cable-driven parallel robot. Specifically, I want to understand how to compute the forces within each cable. My goal is to achieve a force distribution that accurately reflects the physical reality of the robot when it’s in static equilibrium. In this state, the net forces of the cables should be equal to the gravity wrench.

Here’s a minimal XML model that illustrates my question:

minimal XML

```XML ```

Here is a screenshot / video, illustrating my question:

[yuvaltassa]

Why are you using tendon stiffness rather than limits? You want your tendons to be able to push as well as pull?

If you switch to limits you can use a tendon limit force sensor: https://mujoco.readthedocs.io/en/latest/XMLreference.html#sensor-tendonlimitfrc