A New Quaternion-Joint Cable-Driven Redundant Manipulator Configuration and its Control Through FABRIK and Residual Reinforcement Learning

Tanapath Pornthisan, Thanapat Kemthong, Thanyapisit Kangsathien +3

Robotic arms capable of traversing arbitrary spatial paths, especially in highly obstructed workspaces, are highly desired across several industries. Quaternion-joints have recentl…