“…The complementarity constraint manages the taut/slack state of the cable (cables can pull, not push), and the model is complete if an impact model is added to (70) (inelastic collisions are usually chosen [242,243]). The same approach can be used to model tethered satellites, cable-driven robotic systems in crane configuration [48,49,244,245,246], helicopters or quadrotors with cable-suspended loads [242,247,248,249,250], manipulation of objects with cables [218,219,77], gantry cranes with liquid-sloshing payloads [251,252] (then the object has a complex dynamics, which can be approximated with multibody dynamics models [253,Chapter 5]). As explained in [6, Example 1.6], the cables can also be controlled with a force exerted at one tip, or with one of the tip's position (e.g, the attachment point on the aircraft example).…”