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This paper presents the control of a 3-DOF manipulator with joint angle feedback, the function of which was achieved by three mutually perpendicular joints intersecting at one point actuated by four parallel pulling force. Encoders were installed on each joint to obtain the control error caused by elasticity of cables and mechanism installation. Due to the output coupling problem of parallel mechanism,...
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...
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