  This paper presents a method for dynamic adjustment of cable preloads based
on the actuation redundancy of \acp{CDPR}, which allows increasing or
decreasing the platform stiffness depending on task requirements. This is
achieved by computing preload parameters with an extended nullspace formulation
of the kinematics. The method facilitates the operator's ability to specify a
defined preload within the operation space. The algorithms are implemented in a
real-time environment, allowing for the use of optimization in hybrid
position-force control. To validate the effectiveness of this approach, a
simulation study is performed, and the obtained results are compared to
existing methods. Furthermore, the method is investigated experimentally and
compared with the conventional position-controlled operation of a cable robot.
The results demonstrate the feasibility of adaptively adjusting cable preloads
during platform motion and manipulation of additional objects.
