Enhanced Stiffness Modeling and Identification Method for a Cable-Driven Spherical Joint Module

Enhanced Stiffness Modeling and Identification Method for a Cable-Driven Spherical Joint Module

A cable-driven manipulator (CDM) has low stiffness and its stiffness identification is a critical issue. This paper focuses on stiffness modeling and identification for a cable-driven spherical joint module (CSJM), whose trajectory is a curve on SO(3). In order to obtain the stiffness of the CSJM, i...

Full description

Bibliographic Details
Main Authors: Kaisheng Yang, Guilin Yang, Si-Lu Chen, Yi Wang, Wenjun Shen, Tianjiang Zheng, Zaojun Fang, Chongchong Wang
Format: Article
Language:English
Published: IEEE 2019-01-01
Series:IEEE Access
Subjects:
Cable-driven spherical joint module
stiffness modeling
stiffness identification
force/torque sensor
Riemannian manifold
Online Access:https://ieeexplore.ieee.org/document/8824094/

Internet

https://ieeexplore.ieee.org/document/8824094/

Similar Items