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Abstract. The control of exible cable-driven parallel robots usually requires feedback not only from the joints, but also from the end-e ector pose or cable tension. This paper presents a new approach for reducing the vibration of exible cable-suspended robots, using only the feedback from the joints. First, the dynamic equations of a 6DOF cable-suspended parallel robot with elastic cables were derived by Gibbs-Appel formulation. Subsequently, three di erent control approaches were investigated based on the computational load and required sensors. As a result, a feedback linearization method based on the rigid model of the system was selected. In order to reduce the vibration, a robust input shaping method was employed to prevent excitation of natural modes. Simulation results revealed that the proposed approach leads to a noticeable vibration and settling time reduction in cases of low and high cable sti ness, respectively. Moreover, another simulation compared the presented approach with a composite controller, which used the feedbacks from the end-e ector and actuators. Thereafter, the performance of the approach in vibration reduction was quantitatively shown. Finally, experimental validation of the approach was accomplished by frequency analysis of the vibration obtained from the IMU sensor attached to the ende ector.

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