Design, fabrication and control of a cable-driven parallel robot

The paper states the two open-loop control laws and their intended properties but omits the derivations that map payload trajectories to motor-shaft velocity profiles and the checks of smoothness/endpoint conditions. The candidate solution supplies those missing derivations: (i) it verifies the piecewise-sinusoidal acceleration profile a(t) in Eq. (4.4) is continuous, yields rest-to-rest motion, and produces exactly 0.5 m vertical displacement in 1 s; and (ii) it solves the linearized cart–pendulum relation ẍ + l θ̈ + g θ = 0 for the shaped angle θ(t) in Eq. (4.7), shows how to achieve a prescribed net horizontal translation D in 2 s, and gives the explicit cable-rate/motor-rate mapping used operationally in the paper. These are consistent with the paper’s descriptions of Maneuver 1 and Maneuver 2 and with the stated operation pipeline of the CDPR, but the paper does not include the intermediate steps, parameter relations, or kinematic formulas the model provides. Hence, the paper is correct but incomplete on derivations; the model’s solution fills the gaps correctly. Key paper passages: vertical sinusoidal acceleration (Eq. 4.4) and claim of deduced motor profiles; horizontal pendulum-based shaping (Eqs. 4.5–4.7) and claim of deduced motor profiles; and the stated “trajectory → cable lengths → motor velocities” operation pipeline (Sections II–IV) .