Cable-Driven Parallel Robots
Includes my bachelor thesis written in matlab.
It's my goal to rewrite all that in python as soon as I find the freetime ;)
Implementation of the inverse and forward kinematics for a cable-driven parallel robot (CDPR) in Numpy
The forward kinematics is determined via several optimization algorithms:
Gradient Descent Gauss-Newton Levenberg-Marquardt Powell's Dog Leg