Yin Pok Chan

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

Dipankar Bhattacharya, Yin Pok Chan, Siqi Shang, Yuen Shan Chan, Ying Tan, Darwin Lau

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 tr…Read more