Data-Driven Kinematic Control Scheme for Cable-Driven Parallel Robots Allowing Collisions
Yongwei Zou,Yusheng Hu,Huanhui Cao,Yuchen Xu,Yuanjie Yu,Wenjie Lu,Hao Xiong,Yongwei Zou,Yusheng Hu,Huanhui Cao,Yuchen Xu,Yuanjie Yu,Wenjie Lu,Hao Xiong
Cable-Driven Parallel Robots (CDPRs) have been proposed for a variety of applications such as material handling, rehabilitation, and instrumentation. However, the collision-free constraint of CDPRs limits the workspace of CDPRs and the feasible position of anchor points. To address the collision-free constraint of CDPRs, a data-driven kinematic control scheme is developed for CDPRs, enabling a CDP...
