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Control accuracy and consistent initial home posture is essential when we compare and analyze control algorithms. In general, in order to reduce the accumulative error of the controlling process or estimate the initial posture, the robot system need to return to its approximate home posture firstly. According to the structural characteristics of the cable-driven parallel robot, this paper describes...
In this paper, the research object is 3-DOF spherical joint robot driven by four cables, which imitates the motion of people's shoulder joint. The dynamic model of the 3-DOF cable-driven robotic shoulder joint is built by using Lagrange dynamics method so as to obtain the standard form of dynamic equation. Based on backstepping technique, the control law of the system model is designed for the robot...
In this paper, the stiffness of 3-DOF (Degree of Freedom) spherical joint robot based on cable-driven humanoid arm is analyzed. By utilizing forward kinematics, the pose of the robot is realized. Then with the analysis of static, the torque balance relationship between cables is realized. On the basis of the analysis of pose and cable tension, the stiffness of 3-DOF spherical joint robot can be analyzed,...
In this paper, a cable-driven spherical joint with angle feedback is proposed and the geometric numerical inverse kinematic algorithm is analyzed. Based on this, a new online control method is presented. In this method, the actual position of the spherical joint is calculated via inverse kinematics and the control error is compensated immediately. A experimental system with industrial PC (IPC) and...
To improve the load capacity of the manipulator, based on the geometry analysis and screw theory, this paper is focused on the configuration design, cable-driven manner, and kinematics control for a cable-driven 7-DOF manipulator. First, aimed at the choice of cables-driven manners, a cable-driven mechanism that is coupled between elbow and wrist, and between shoulder and elbow is designed. Second,...
A 7-DOF cable-driven manipulator is analyzed in the paper. First, according to the torque equilibrium, a static equation of the manipulator is deduced. Then, a dynamic formulation based on the static equation is followed, which includes the influence of external torque, gravity torque, inertial torque and gyroscopic torque. And then, an effective approach of calculating the external torque, gravity...
Cable-driven mechanisms have high load capacity. Motivating from the latest research results of humanoid-arm bionics and parallel manipulators, a novel design of cable-driven humanoid-arm, which combines the merits of cable-driven and parallel mechanism, is proposed. This paper introduces the specific structure of cable-driven humanoid-arm. The modes of cables distribution and the coupling among joints...
A hybrid-driven approach, consisting of cable-driven and convention-driven designs, for a 7-DOF manipulator, is proposed in this paper. This approach combines the merits of cable-driven parallel mechanism and modular serial structure, so that the workspace of the manipulator is larger than that of conventional cable-driven design. The paper first introduces the hybrid mechanism design of the manipulator...
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