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Robust Adaptive Control of Fully Constrained Cable-Driven Serial Manipulator with Multi-Segment Cables Using Cable Tension Sensor Measurements
The structure of the cable-driven serial manipulator (CDSM) is more complex than that of the cable-driven parallel manipulator (CDPM), resulting in higher model complexity and stronger structural and parametric uncertainties. These drawbacks challenge the stable trajectory-tracking control of a CDSM...
Autores principales: | , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2021
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7956305/ https://www.ncbi.nlm.nih.gov/pubmed/33669150 http://dx.doi.org/10.3390/s21051623 |