CafkNet: GNN-Empowered Forward Kinematic Modeling for Cable-Driven Parallel Robots
Zeqing Zhang†, Linhan Yang†, Cong Sun, Weiwei Shang and Jia Pan
† equal contribution
To the best of our knowledge, it is the first study that employs the GNN to solve FK problem for CDPRs.
Overview of CafkNet
Overview of CafkNet
CafkNet: a forward kinematics solving method based on the graph neural Networks for Cable-driven parallel robots.
Overview of CafkNet. (a) The geometric model of a spatial CDPR with m cables. (b) The proposed graph presentation for the CDPR. (c) The top-down computation scheme in each message propagation block. The cable nodes collect data from the world node and are eventually aggregated by the body node.
Videos of Experiment
Videos of Experiment