Time-Delay Learning-Based Controller for Fully-Constrained Cable-Driven Parallel Robots

Despite model-based approaches are capable of providing acceptable performance, but they require complex dynamics modeling, which make them difficult to apply. To overcome this problem, a time-delay learning-based controller as a model-free approach is proposed for fully-constrained cable-driven parallel robots (CDPRs) considering the positive cable force constraints and actuator limitations. The ...