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Cable driven parallel robots (CDPRs) are widely used recently. To achieve accurate and fast tracking performance with CDPRs, suppressing vibration is necessary. Input shaping method that cancels vibration by redesigning input can be used, but usual input shaping method is suit to single-mode systems. Multi-mode input shaping method was suggested to make it apply to multi-mode systems. The multi-mode...
Many of modern control schemes for a robot manipulator require accurate information on the robot dynamics. Thus, it is critical to find the precise dynamic parameters, which include inertial parameters as well as dimensional parameters, accurately. One critical issue in determining accurate model of a robot manipulator is to estimate the inertial and dimensional parameters precisely, such as the mass,...
This paper describes a development of bio-mimetic robot hands and its control scheme. Each robot hand has four under-actuated fingers, which are driven by two linear actuators coupled. According to the study of the human hand, it is noted that coupled muscles (flexor and extensor muscle) generate the finger motion. Each fingertip can reach toward objects by curved surface workspace in 3D-space. The...
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