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By Weihua Su, Xudong Ren, Fu Niu and Zhiyuan Fu

Abstract

In this paper, a motion control approach for a 5-DOF cable-driven manipulator is designed, and the mechanical structure design of this anthropomorphic-arm is introduced. For the 5-DOF manipulator, a hybrid algorithm is proposed to make the trajectory tracing of the manipulator in task space with high accuracy; the goals of the first phase of the robot arm have been meet. Although the method of motion control is limited in the current state, it serves as a strong foundation on which to test the performance and interface of the electronic components. The coupling cable lengths among the different joint modules are analyzed in detail

Topics: 5-DOF, Design, Anthropomorphic Arm
Year: 2015
OAI identifier: oai:CiteSeerX.psu:10.1.1.696.6057
Provided by: CiteSeerX
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