Design and Nonlinear Control of a 2-DOF Flexible Parallel Humanoid Arm Joint Robot
The paper focuses on the design and nonlinear control of the humanoid wrist/shoulder joint based on the cable-driven parallel mechanism which can realize roll and pitch movement. In view of the existence of the flexible parts in the mechanism, it is necessary to solve the vibration control of the fl...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Hindawi Limited
2017-01-01
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| Series: | Shock and Vibration |
| Online Access: | http://dx.doi.org/10.1155/2017/2762169 |