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

• 主要作者: Xu, Lingchao
• 其他作者: Tao Pey Yuen
• 格式: Final Year Project
• 語言: English
• 出版: 2015
• 主題: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
• 在線閱讀: http://hdl.handle.net/10356/62720

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...