In this paper, we present a simulator that has been developed using Gazebo and ROS to study cable-driven parallel robots. Real-time dynamic simulation of such robots is an efficient approach to develop new control laws that may integrate various sensors. The limitations of Gazebo are dealt with, as we model the cables under tension as mass-less U - P - S links with the prismatic joint actuated. We illustrate the proposed simulator with a dynamic controller, detailing the tension distribution and performing various trajectories.
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