A data-selection-enhanced, data-driven MPC controller tracks joint trajectories on a three-segment cable-driven arm with 0.541 degree average error, outperforming a PID baseline.
D3-arm: High-dynamic, dexterous and fully decoupled cable-driven robotic arm,
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Data-Driven MPC with Data Selection for Flexible Cable-Driven Robotic Arms
A data-selection-enhanced, data-driven MPC controller tracks joint trajectories on a three-segment cable-driven arm with 0.541 degree average error, outperforming a PID baseline.