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The method eliminates the use of a tension distribution algorithm in controlling the system\u2019s dynamics and inherently optimizes the cable tensions based on the reward function during the learning process. The deep deterministic policy gradient algorithm is utilized for training the RL agents in point-to-point and dynamic reference tracking tasks. The performances of the two agents are tested on their specifically trained tasks. Moreover, we also implement the agent trained for point-to-point tasks on the dynamic reference tracking and vice versa. The performances of the RL agents are compared with a classical PD controller. The results show that RL can perform quite well without the requirement of designing different controllers for each task if the system\u2019s dynamics is learned well.<\/jats:p>","DOI":"10.1017\/s0263574722000273","type":"journal-article","created":{"date-parts":[[2022,3,17]],"date-time":"2022-03-17T09:34:38Z","timestamp":1647509678000},"page":"3378-3395","source":"Crossref","is-referenced-by-count":29,"title":["Position control of a planar cable-driven parallel robot using reinforcement learning"],"prefix":"10.1017","volume":"40","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0795-0204","authenticated-orcid":false,"given":"Caner","family":"Sancak","sequence":"first","affiliation":[]},{"given":"Fatma","family":"Yamac","sequence":"additional","affiliation":[]},{"given":"Mehmet","family":"Itik","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2022,3,17]]},"reference":[{"key":"S0263574722000273_ref9","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2013.12.001"},{"key":"S0263574722000273_ref15","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2020.3038852"},{"key":"S0263574722000273_ref16","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574721000448"},{"key":"S0263574722000273_ref10","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574721000357"},{"key":"S0263574722000273_ref23","doi-asserted-by":"publisher","DOI":"10.3390\/s21041292"},{"key":"S0263574722000273_ref5","doi-asserted-by":"publisher","DOI":"10.1007\/978-90-481-9689-0_41"},{"key":"S0263574722000273_ref24","doi-asserted-by":"publisher","DOI":"10.1177\/17298814211007305"},{"key":"S0263574722000273_ref8","first-page":"1","article-title":"Out-of-plane vibration suppression and position control of a planar cable-driven robot","author":"Sancak","year":"2021","journal-title":"IEEE\/ASME Trans. 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H. , \u201cSliding-Mode Control Of Cable-Driven Parallel Robots with Elastic Cables, In: 2016 16th International Conference on Control, Automation and Systems (ICCAS), (IEEE, Gyeongju, South Korea, 2016) pp. 1057\u20131060.","DOI":"10.1109\/ICCAS.2016.7832440"},{"key":"S0263574722000273_ref7","doi-asserted-by":"publisher","DOI":"10.1007\/s11044-008-9144-0"},{"key":"S0263574722000273_ref20","doi-asserted-by":"publisher","DOI":"10.4236\/mme.2011.12009"},{"key":"S0263574722000273_ref3","doi-asserted-by":"publisher","DOI":"10.1002\/rob.10073"},{"key":"S0263574722000273_ref22","first-page":"1024","article-title":"A learning-based control framework for cable-driven parallel robots with unknown Jacobians","volume":"234","author":"Xiong","year":"2020","journal-title":"Proc Inst. Mech. Eng. I J. Syst. 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P. , Hunt, J. J. , Pritzel, A. , Heess, N. , Erez, T. , Tassa, Y. , Silver, D. and Wierstra, D. , Continuous control with deep reinforcement learning, 2019. arXiv: 1509.02971 [cs, stat]."},{"key":"S0263574722000273_ref21","doi-asserted-by":"publisher","DOI":"10.3724\/SP.J.1004.2010.00459"},{"key":"S0263574722000273_ref28","first-page":"195","article-title":"Applying deep reinforcement learning to cable driven parallel robots for balancing unstable loads: a ball case study","volume":"7","author":"Oyekan","year":"2021","journal-title":"Front. Robot. 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P. , Mirza, M. , Graves, A. , Lillicrap, T. , Harley, T. , Silver, D. and Kavukcuoglu, K. , \u201cAsynchronous Methods for Deep Reinforcement Learning,\u201d In: Proceedings of the International Conference on Machine Learning, PMLR (2016) pp. 1928\u20131937."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574722000273","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,9,9]],"date-time":"2022-09-09T18:25:32Z","timestamp":1662747932000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574722000273\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,3,17]]},"references-count":34,"journal-issue":{"issue":"10","published-print":{"date-parts":[[2022,10]]}},"alternative-id":["S0263574722000273"],"URL":"https:\/\/doi.org\/10.1017\/s0263574722000273","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,3,17]]}}}