Simple video technique for initial positioning of cable-driven manipulators

The very simple and low cost positioning technique is presented for the cable-driven manipulators. The technique has been designed and employed for the initial determination of a location of the specific 9-DOF cable-driven platform. The considered cable-pulley manipulator is the standard inverted Stewart platform improved to increase its operation ability in small workspaces. To right work the manipulator requires to place it at the fixed starting post. The positioning set-up and the manipulator are controlled by a PC.