Tri-Space Operational Control of Redundant Multilink and Hybrid Cable-Driven Parallel Robots Using an Iterative-Learning based Reactive Approach

arXiv:2607.29500v1 Announce Type: new Abstract: Cable-Driven Parallel Robots (CDPRs) are a type of parallel mechanism in which cables are used as actuators. Due to the two levels of redundancy and numerous constraints within the CDPR actuation, joint and operational spaces (together known as the tri-space), tracking a given trajectory in the operational space while satisfying constraints in tri-space simultaneously is challenging. To the best of the authors' knowledge, there does not exist any t...