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This paper presents redundancy resolution and disturbance rejection viatorque optimization in Hybrid Cable-Driven Robots (HCDRs). To begin with, weinitiate a redundant HCDR for nonlinear whole-body system modeling and modelreduction. Based on the reduced dynamic model, two new methods are proposed tosolve the redundancy resolution problem: joint-space torque optimization foractuated joints (TOAJ) and joint-space torque optimization for actuated andunactuated joints (TOAUJ), and they can be extended to other HCDRs. Compared tothe existing approaches, this paper provides the first solution (TOAUJ-basedmethod) for HCDRs that can solve the redundancy resolution problem as well asdisturbance rejection. Additionally, this paper develops detailed algorithmstargeting TOAJ and TOAUJ implementation. A simple yet effective controller isdesigned for generated data analysis and validation. Case studies are conductedto evaluate the performance of TOAJ and TOAUJ, and the results suggest theeffectiveness of the aforementioned approaches.

Redundancy Resolution and Disturbance Rejection via Torque Optimization in Hybrid Cable-Driven Robots