@inproceedings{CTYSB2018,
  title = {{Port Hamiltonian Modeling of a Cable Driven Robot}},
  journal = {{IFAC-PapersOnLine}},
  abstract = {{In this paper we present a generic Port-Hamiltonian (PH) model that includes cable dynamics (in particular elasticity and couplings with the platform and all cables among each other) of a cable-driven parallel robot (CDPR), which is used as a motion simulator. Moreover we consider changes in the cable parameters, i.e. it\textquoterights elasticity, mass and length when the cables are wound/unwound from the winches. To the best of our knowledge nobody considered such a detailed and generic model of a CDPR in PH structure before. Since motion simulators are built to mimic systems with different physical properties, PH modeling can pave the way for physics-shaping controllers.}},
  volume = {51},
  pages = {161--168},
  publisher = {Elsevier},
  address = {Valpara\'\iso, Chile},
  year = {2018},
  author = {Schenk, C and Y\"uksel, B and Secchi, C and B\"ulthoff, HH},
  doi = {10.1016/j.ifacol.2018.06.047}
}