Results 211 to 220 of about 53,804 (255)
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A New Model-free Robust Adaptive Control of Cable-driven Robots
International Journal of Control, Automation and Systems, 2021Yao-yao Wang +5 more
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Adaptive recursive sliding mode based trajectory tracking control for cable-driven continuum robots.
ISA transactionsTo improve the transient response, accuracy and robustness of trajectory tracking control for cable-driven continuum robots (CDCRs), a recursive integral terminal sliding mode control combined with an adaptive disturbance observer (ADO-RITSMC) is ...
Yanan Qin, Qi Chen, Chengjun Ming
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Tension research of a cable-driven biomimetic shoulder robot
2010 IEEE International Conference on Robotics and Biomimetics, 2010In cable-driven 3-DOF (Degree of Freedom) robot, cable is only to be stretched but not compressed. It is significant to research the cable tension. It is easy to analyze assignment situation of cable tension by geometry. Tension coefficient is proposed as the appraisal for tension assignment.
Weihai Chen +3 more
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Position and Orientation Tracking Control of a Cable-Driven Tensegrity Continuum Robot
IEEE Transactions on roboticsTrajectory tracking control of flexible continuum robots is challenging due to their inherent compliance and high nonlinearity. Many related works exclude the control of the end's orientation, i.e., only the end's position is considered. In this article,
Fei Li +4 more
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Wrench-feasible workspace generation for cable-driven robots
IEEE Transactions on Robotics, 2006This paper presents a method for analytically generating the boundaries of the wrench-feasible workspace (WFW) for cable robots. This method uses the available net wrench set, which is the set of all wrenches that a cable robot can apply to its surroundings without violating tension limits in the cables.
Paul Bosscher +2 more
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High-Precision Adaptive Control of Cable-Driven Parallel Robots With Convergence Guarantee
IEEE transactions on industrial electronics (1982. Print)The development of cable-driven parallel robots (CDPRs) is restricted because of model uncertainty caused by multicable-driven structures and diverse task requirements, which mainly leads to a loss of control accuracy.
Bin Zhang +4 more
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A Tension Sensor Array for Cable-Driven Surgical Robots
Italian National Conference on SensorsTendon–sheath structures are commonly utilized to drive surgical robots due to their compact size, flexibility, and straightforward controllability.
Zhangxi Zhou +5 more
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Control of cable-driven parallel robot for gait rehabilitation
2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), 2015We report the control and simulation of a planar cable-driven parallel robot with four cables. The application of the robot is to fully control the lower limb, shank, for gait rehabilitation. The main challenge in control of the cable-driven parallel robot is to avoid negative cable tensions during dynamic motions.
Soheil Gharatappeh +3 more
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The optimal design of cable-driven robots
2016"Cable-driven robots are often considered an attractive solution for a range of applications, however, the advantages of cable-driven robots come at a cost of added complexity to the overall system and increased challenges in the design of the robot.
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