The continuity and real-time performance of the cable tension determining for a suspend cable-driven parallel camera robot

The continuity and real-time performances of the cable tension determining for a camera robot parallel driven by four cables are dealt with in this paper. Up to now, there exist two open challenges for guaranteeing the continuity and real-time performances brought about by the speedability and maneuverability of a camera robot. For this purpose, firstly, a non-iterative polynomial-based optimization algorithm is presented based on the convex optimization theory, in which six different optimal objective functions are utilized. Then, the continuity of the algorithm is proved and the continuity indices are presented. Moreover, the real-time performance of the algorithm is analyzed and the real-time indices are developed. Finally, the effectiveness of the algorithm is verified; some valuable proposals of selecting the optimal objective functions are also offered.