Résumé
Cable-Driven Parallel Robots (CDPRs) offer large workspaces and high payload capacities, but their control remains challenging due to cable elasticity, unidirectional actuation, and model uncertainties.This paper presents a comparative study of three control strategies—Computed Torque Control (CTC), linear Model Predictive Control (MPC), and Sliding Mode Control (SMC)—applied to a 6-DoF CDPR with elastic cable. Each method is evaluated in simulation on the HRPcable CDPR, considering track-ing accuracy, robustness, computational cost, and implementation complexity. Particular attention is given to the integration of tension distribution and the controllers ability to handle singularities and tension feasibility constraints. Results highlight trade-offs between precision, robustness, and real-time feasibility, offering guidance for controller selection in practical CDPR applications.