# Direct Kinematic Singularities and Stability Analysis of Sagging Cable-Driven Parallel Robots

> Research article (IEEE Transactions on Robotics, 2023) · cited 15× · AI/ML

**Wikidata**: [openalex:W4322614503](https://www.wikidata.org/wiki/openalex:W4322614503)  
**Source**: https://4ort.xyz/entity/direct-kinematic-singularities-and-stability-analysis-of-sagging-cable-driven-parallel-robots