Journal Article10.1007/s11044-022-09840-1
Two trajectory tracking control methods for space hyper-redundant cable-driven robots considering model uncertainty
Jianqing Peng,Dongming Ge,Yu Han +2 more
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About: This article is published in Multibody System Dynamics. The article was published on 30 Aug 2022. The article focuses on the topics: Iterative learning control & Trajectory.
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Citations
Modelling and control of manipulators for inspection and maintenance in challenging environments: A literature review
A. Pistone,Daniele Ludovico,Lorenzo De Mari Casareto Dal Verme,Sergio Leggieri,Carlo Canali,Darwin G. Caldwell +5 more
TL;DR: This literature review examines robotic manipulator modelling and control for inspection and maintenance in harsh environments, focusing on hyper-redundant manipulators, their types, and applications in aerial, ground, and underwater settings.
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Modeling, Cooperative Planning and Compliant Control of Multi-arm Space Continuous Robot for Target Manipulation
TL;DR: In this article , a cooperative planning and compliant control method for multi-arm space continuous robots in target manipulation is presented, which minimizes the cable tension in the process of force/pose hybrid control.
11
A Novel Space Robot with Triple Cable-Driven Continuum Arms for Space Grasping
TL;DR: In this paper , a novel space robot with triple cable-driven continuum arms is proposed, which can achieve compliant grasping through multi-arm cooperation, and the kinematic model of the robot is proposed and verified through simulations and experiments.
Design, self-calibration and compliance control of modular cable-driven snake-like manipulators
Qihan Chen,Mengtang Li,Haoxuan Wu,Wanquan Liu,Jianqing Peng +4 more
TL;DR: Researchers design a modular cable-driven snake-like manipulator (MCDSM) with detachable arm segments, self-calibration method, and compliant control, enabling tasks in narrow spaces with improved stiffness, load capacity, and safe human-robot interaction.
4
Review of Cable-driven Hyper-redundant Robotic Arms
Zhuo Chen,Xinbin Zhang,Manlu Liu,Jianwen Huo,Hua Zhang,Liguo Tan +5 more
- 05 Jul 2024
TL;DR: This review paper examines cable-driven hyper-redundant robotic arms, highlighting their advantages in complex applications, analyzing driving methods, modeling approaches, trajectory planning, and control, and discussing challenges and future prospects in the field of robotics.
1
References
Kinematics and the implementation of an elephant's trunk manipulator and other continuum style robots.
M.W. Hannan,Ian D. Walker +1 more
TL;DR: A detailed formulation and explanation of a novel kinematic model for continuum style robots called the elephant trunk manipulator is presented and experimental results are provided to verify the legitimacy of the model when applied to the physical manipulator.
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Control Strategies for Soft Robotic Manipulators: A Survey.
TL;DR: This review article attempts to provide an insight into various controllers developed for continuum/soft robots as a guideline for future applications in the soft robotics field.
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A modal approach to hyper-redundant manipulator kinematics
Gregory S. Chirikjian,J.W. Burdick +1 more
- 01 Jun 1994
TL;DR: This paper presents novel and efficient kinematic modeling techniques for "hyper-redundant" robots based on a "backbone curve" that captures the robot's macroscopic geometric features and introduces a "modal" approach, in which a set of intrinsic backbone curve shape functions are restricted to a modal form.
FABRIK: A fast, iterative solver for the Inverse Kinematics problem
Andreas Aristidou,Joan Lasenby +1 more
TL;DR: A novel heuristic method, called Forward And Backward Reaching Inverse Kinematics (FABRIK), is described and compared with some of the most popular existing methods regarding reliability, computational cost and conversion criteria.
412
Large deflection dynamics and control for planar continuum robots
TL;DR: In this article, the dynamics of a planar continuum backbone section are discussed, and a vibration-damping setpoint controller is proposed based on a large-deflection dynamic model.
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