A numerical algorithm for solving the real-time forward solution of cable-driven parallel robots with redundant constraints was presented.The kinematics model of 6-DOF cable-driven parallel robot with eight cables was established,and its mechanism was parameterized,the cable length was calculated according to the principle of vector closure.The nonlinear positive solution equations were derived from the inverse solution equation.The initial pose of the motion platform was taken as the initial value,and the forward position solution was obtained iteratively by using the Dog Leg algorithm.The circular curve was taken as the trajectory of the motion platform.The real-time simulation results show that the algorithm can be used to complete the accurate forward solution of the position and attitude.The experimental results show that the average time of the five pose combinations is less than 0.07 ms,which meets the real-time requirements of solving the forward position and attitude solution of the cable-driven parallel robot.