Wuichung Cheng

Iterative Learning Control for Deformable Open-Frame Cable-Driven Parallel Robots

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 d…