... of motion control and path planning methods. Finally, experiments are carried out to validate the proposed FDEPID control and path planning strategies which demonstrate the great potential of the developed cable-driven printer in the construction of lunar architecture. Email: qiansenhfut@126.com 1...

... 2023 27 01 2024 30 01 2024 05 03 2024 Graphical Abstract Figure parallel continuum robot cable-driven mechanisms kinematic calibration motion control National Natural Science Foundation of China 10.13039/501100001809 52175221 As the research...

... of human arm mass on elbow flexion/extension motion control, a 1 kg weight was suspended from the front end of the lower arm of the TULEE, as shown in Fig. 15 . Fig. 15 Elbow joint flexion/extension experiment: ( a ) initial state and ( b ) joint following control state Elbow joint flexion...

... model can be used for the motion control of the continuum mechanism, and the 4-DOF endoscopic robot can meet the visual field requirements of minimally invasive surgery. Fig. 10 Geometric relation of the cable distribution Geometric relation of the cable distribution Fig. 19 Dexterous...

...Zhengyu Wang; Shiyang Bao; Daoming Wang; Sen Qian; Jianxi Zhang; Mingxin Hai This article presents the design, development, and motion control of a novel flexible robotic laparoscope (FRL). The main structure of the FRL includes a two degrees-of-freedom (DOFs) continuum mechanism driven by two...

... will be set to zero for each driving cable control subsystem every time it exceeds the threshold. Therefore, a stable and accurate motion controller is designed for the quaternion joint CDRM. To validate the joint state estimation method, geometric iterative inverse kinematics and control strategy...

... Using a Multi-Objective Optimisation Approach ,” Control 1985 Conference , Cambridge , UK, pp. 174 – 179 . 05 10 2010 21 04 2011 10 08 2011 10 08 2011 end effectors flexible manipulators force control manipulator dynamics motion control optimal control...

... motion control TSSM self-motion flexible octahedra Kokotsakis mesh spherical coupler motion A triangular symmetric simplified manipulator (TSSM) consists of a platform, which is connected via three spherical-prismatical-rotational (SPR) legs l i with the base (see Fig. 1...

... speed, accuracy, rigidity, and reconfigurability when compared with conventional machine tools and industrial robots having serial architectures. acceleration control Hessian matrices Jacobian matrices Lie algebras manipulator kinematics motion control velocity control 22 12 2009...

.... Designs of redundant Delta/Par4-like manipulators capable of high acceleration pick-and-place trajectories are presented for both 3T and 3T1R manipulators. 22 09 2009 07 06 2010 30 08 2010 30 08 2010 acceleration control manipulator dynamics motion control position control...

... active DOFs, same as the primary manipulator. This also suggests that the auxiliary linkage does not add additional motion constraints to the original kinematic chain. 05 01 2010 29 04 2010 21 06 2010 21 06 2010 gravity manipulator kinematics motion control springs...

... ∗ = e 21 ,     b 3 ∗ = b 4 ∗ = e 22 ,     b 5 ∗ = e 23 29 03 2009 19 11 2009 19 04 2010 19 04 2010 geometry legged locomotion manipulator kinematics motion control polynomials kinematics direct parallel Schönflies...

... 2010 19 04 2010 actuators camshafts design internal combustion engines motion control valves Lift can be varied continuously from zero to a predetermined maximum lift. Phasing can also be varied continuously for any camshaft angle, preferably from minus 15 deg (−15 deg...

... or normalized quantity q . motion control path planning robot kinematics 27 12 2008 18 07 2009 19 11 2009 To verify the invariance of v 2 we have to look at how Eq. 23 changes if v is replaced by v ⋆ with v ⋆ − v = u × ω...

... . 10.1115/1.2056560 15 07 2008 11 06 2009 02 09 2009 compliance control control system synthesis motion control robot kinematics A compliant mechanism transmits motion and force through the deformation of its constituent elements. The benefits of such devices include...

... is approximately 0.650 N over the same range. 09 05 2008 15 01 2009 14 07 2009 actuators control system synthesis elastomers finite element analysis motion control robots Potential applications of the DE linear actuators in robotics and mechatronics vary from mini...

... cooperative systems friction industrial manipulators materials handling equipment mobile robots motion control multi-robot systems position control 2008 American Society of Mechanical Engineers ...