Hybrid force-motion control implementation on a dexterous cable-driven robotic arm

• Main Author: Xu, Lingchao
• Other Authors: Tao Pey Yuen
• Format: Final Year Project
• Language: English
• Published: 2015
• Subjects: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
• Online Access: http://hdl.handle.net/10356/62720
• Institution: Nanyang Technological University

Dexterous cable-driven robotic arm (DCDRA) is superior over rigid-link robotic arms with their lightweight, flexibility and relatively large payload capability. The primary objective of this project is to achieve motion control under hybrid position/force configuration of an existing cable-driven ma...