# Optimal Force Allocation for Overconstrained Cable-Driven Parallel Robots: Continuously Differentiable Solutions With Assessment of Computational Efficiency

> Research article (IEEE Transactions on Robotics, 2020) · cited 45× · AI/ML

**Wikidata**: [openalex:W3091607364](https://www.wikidata.org/wiki/openalex:W3091607364)  
**Source**: https://4ort.xyz/entity/optimal-force-allocation-for-overconstrained-cable-driven-parallel-robots-continuously-differentiable-solutions-with-ass