Sliding Mode Control of Cable-Driven Redundancy Parallel Robot with 6 DOF Based on Cable-Length Sensor Feedback

Table 3

The data of cable length in six directions.

Direction	(m)	(m)	(m)	(m)	(m)	(m)	(m)	(m)
Swaying	1.317	1.279	1.274	1.423	1.423	1.274	1.279	1.317
Surging	1.379	1.240	1.240	1.379	1.360	1.309	1.309	1.360
Heaving	1.177	1.066	1.066	1.177	1.177	1.066	1.066	1.177
Pitching	1.336	1.251	1.251	1.336	1.401	1.301	1.301	1.401
Rolling	1.371	1.283	1.264	1.367	1.367	1.264	1.283	1.371
Yawing	1.374	1.271	1.275	1.362	1.374	1.271	1.275	1.362