Position control of a planar cable-driven parallel robot using reinforcement learning
Sign Up to like & getrecommendations! Published in 2022 at "Robotica"
DOI: 10.1017/s0263574722000273
Abstract: Abstract This study proposes a method based on reinforcement learning (RL) for point-to-point and dynamic reference position tracking control of a planar cable-driven parallel robots, which is a multi-input multi-output system (MIMO). The method eliminates… read more here.
Keywords: reinforcement learning; cable; planar cable; control planar ... See more keywords
Multiaxis Reaction System (MARS) for Vibration Control of Planar Cable-Driven Parallel Robots
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Transactions on Robotics"
DOI: 10.1109/tro.2019.2906475
Abstract: This paper provides a solution for the problem of uncontrollable modes in planar cable-driven parallel robots. The proposed solution requires the addition of two unbalanced-rotational-inertia actuators to the end-effector. It is demonstrated both analytically and… read more here.
Keywords: planar cable; driven parallel; parallel robots; cable driven ... See more keywords