Reinforcement Learning Control of a Reconfigurable Planar Cable Driven Parallel Manipulator
Adhiti Raman,Ameya Salvi,Matthias Schmid,Venkat Krovi,Adhiti Raman,Ameya Salvi,Matthias Schmid,Venkat Krovi
Cable driven parallel robots (CDPRs) are often challenging to model and to dynamically control due to the inherent flexibility and elasticity of the cables. The additional inclusion of online geometric reconfigurability to a CDPR results in a complex underdetermined system with highly non-linear dynamics. The necessary (numerical) redundancy resolution requires multiple layers of optimization rend...
