Cable-driven parallel robots (CDPRs) belong to a special category of parallel robots, characterized by the use of flexible cables to establish a connection between the actuator and the moving platform (MP) via closed kinematic chains. These cables are either connected to MP or a fixed point on the base frame through several pulleys. Then, actuators can be able to set the position of MP by altering the cables' length. large workspace, fast motion, ease of assembly/disassembly, and low cost are only some unique features attributed to the CDPRs. Despite all of these brilliant features, the use of flexible cables in this class of robots introduces new challenges for the modeling and control of CDPRs. Therefore, during my master's studies, most of my research was dedicated to the modeling and control of such mechanisms.