Cartesian coordinate control for redundant modular robots

Chen, Weihai; Chen, I‐Ming; Lim, Wee Kiat; Yang, Guilin

doi:10.1109/icsmc.2000.886505

Cited by 21 publications

(1 citation statement)

References 8 publications

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“…For the 7-R serial configuration, a trajectory of end is planned by linear interpolation with time interval T , and a serial of pose matrixes are obtained by means of interpolation algorithm [19]. The forward kinematic formula is expressed as:…”

Section: B Dynamic Modeling Of Cdhamentioning

confidence: 99%

Tension optimization for the dynamic model of cable-driven humanoid arm

Cui

Wang

Chen

et al. 2012

2012 7th IEEE Conference on Industrial Electronics and Applications (ICIEA)

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A human upper-limb endoskeleton has 7 degrees of freedom to achieve various tasks dexterously. Therefore, the biological structures of human arm are attractive to researchers, and in this paper, a 7-DOF (degree of freedom) humanoid arm with cable-driven is presented. For CDHA inheriting the human arm's natural features, it is expected to possess the remarkable advantages of a human arm. Then a critical issue, i.e., the dynamic modeling of the CDHA is conducted based on Lagrangian formulation. For more effective tension control, the optimization method of cable tension distribution is addressed with some restrictions, that is, limiting torque constraints of actuators, tension constraints, controllable workspace and motion performance. At last, several simulations in MATLAB of the dynamic model and tension optimization algorithm are illustrated.

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Section: B Dynamic Modeling Of Cdhamentioning

confidence: 99%