Cable-driven parallel robot (CDPR) have a kinematics that is usually complex as soon as there are possible deformation of the cable due to elasticity or cable mass. The classical approach to solve the kinematics in that case is to inject a cable model in the kinematics equations, that are then solved. According to the cable model this solving may be extremely complex and a change in the model requires to customize the solving algorithm. In this paper we consider the inverse kinematics problem of CDPR with 6 cables and exhibit a generic solving approach that will work for any cable model, provided that it satisfies a minimal assumption. We demonstrate it's use on a CDPR with catenary cables.
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