This study is aiming at the unstable problem that due to shaking of the cable and end effector during the start-stop

direction change

acceleration and deceleration operation of the cable-driven parallel robot. The S-type velocity curve planning method is used to plan the robot's trajectory

and the minimum variance optimization method of cable force is used to optimize the cable tension. Based on the kinematic and dynamic model of the robot

a force/position hybrid control system composed of cable length PD feed-forward closed-loop controller and active tension open-loop controller is designed

and the on-site trial and error method is used to adjust control parameters. The simulation analysis and experimental research on the control systemare conducted

the results show that the force/position hybrid control strategy designed on the basis of S-type velocity curve planning and cable force minimum variance optimization has good control effect

effectively improving the trajectory tracking performance and operational stability of the robot.