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

arXiv:2606.05236v1 Announce Type: new Abstract: Robotic arms capable of traversing arbitrary spatial paths, especially in highly obstructed workspaces, are highly desired across several industries. Quaternion-joints have recently empowered a specific class of robotic arms -- cable-driven redundant