🕸️ Cable-Driven Parallel Robot (2D): Tension Distribution and Feasible Workspace

2D planar cable-driven parallel robot with four cables: the redundant cable tensions are chosen as the minimum-norm set between a slack limit and a motor limit, the feasible workspace is mapped, and a figure-eight path shows where cables go slack or overload. Checks cover equilibrium, an analytic centre pose, workspace monotonicity and dynamics.