  This paper deals with the use of input-shaping filters in conjunction with a
feed-forward control of Cable-Driven Parallel Robots (CDPRs), while integrating
cable tension calculation to satisfy positive cable tensions along the
prescribed trajectory of the moving-platform. This method aims to attenuate the
oscillatory motions of the moving-platform. Thus, the input signal is modified
to make it self-cancel residual vibrations. 5 The effectiveness, in terms of
moving-platform oscillation attenuation, of the proposed closed-loop control
method combined with shaping inputs is experimentally studied on a suspended
and non-redundant CDPR prototype. This confirms residual vibration reduction
improvement with respect to the unshaped control in terms of Peak-to-Peak
amplitude of velocity error, which can achieve 72 % while using input-shaping
filters.
