Iterative Learning Control for Deformable Open-Frame Cable-Driven Parallel Robots
Wuichung Cheng,Arthur Ngo Foon Chan,Darwin Lau,Wuichung Cheng,Arthur Ngo Foon Chan,Darwin Lau
This paper proposed an iterative learning control (ILC) scheme for deformable open-frame cable-driven parallel robots (D-CDPRs). In contrast to the straightforward inverse kinematics of the rigid frame cable-driven parallel robots (CDPRs), accurate modeling of the deformable frame poses challenges due to errors and uncertainties. To address these issues, the authors propose the use of ILC, a contr...
