A Convolutional Dynamic-Jerk-Planning Algorithm for Impedance Control of Variable-Stiffness Cable-Driven Manipulators

Cable-driven manipulators, characterized by slender arms, dexterous motion, and controllable stiffness, have great prospects for application to capture on-orbit satellites. However, it is difficult to achieve effective motion planning and stiffness control of cable-driven manipulators because of the...

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Bibliographic Details

Published in:	Micromachines
Main Authors:	Luyang Zhang, Lihui Jia, Panpan Yang, Zixuan Li, Yuhuan Zhang, Xiang Cheng, Zonggao Mu
Format:	Article
Language:	English
Published:	MDPI AG 2022-11-01
Subjects:	cable-driven manipulators motion control impedance control variable-stiffness
Online Access:	https://www.mdpi.com/2072-666X/13/11/2021