This volume gathers the latest advances, innovations and applications in the field of cable robots, as presented by leading
international researchers and engineers at the 4th International Conference on Cable-Driven Parallel Robots (CableCon 2019),
held in Krakow, Poland on June 30-July 4, 2019, as part of the 5th IFToMM World Congress. It covers the theory and applications
of cable-driven parallel robots, including their classification, kinematics and singularity analysis, workspace, statics and
dynamics, cable modeling and technologies, control and calibration, design methodologies, hardware development, experimental
evaluation and prototypes, as well as application reports and new application concepts. The contributions, which were selected
through a rigorous international peer-review process, share exciting ideas that will spur novel research directions and foster
new multidisciplinary collaborations.