Jan 20, 2020 · In this way, the controller is designed to realize both the desired angles and the cable deformations, without force sensing on the cables.

Two miniature angle sensors are installed on the two shafts of each universal joint to measure the joint angles. Each universal joint is driven by three cables ...

This paper presents an investigation where miniature potentiometers are integrated into the joints for angle feedback and a puller-follower controller is ...

Abstract - A cable-driven hyper-redundant manipulator is especially suited for manipulations in confined spaces. In most of.

With regard to the control logic, two possibilities are pursued to form a closed control loop. Either the actuator positions are directly measured via ...

A puller-follower controller is proposed to achieve tension maintenance and closed-loop joint angle control based on the magnetic potentiometer sensor feedback.

Jul 5, 2021 · This paper hence proposes a 12-section cable-driven hyper-redundant manipulator with 24 degrees of freedom and closed-loop control. Customized ...

Oct 22, 2024 · A Closed-Loop Controller for Cable-Driven Hyper-Redundant Manipulator with Joint Angle Sensors *. Conference Paper. Dec 2019. Baibo Wu ...

Oct 13, 2023 · To control MCDM accurately, a multi-sensor system is designed and a close-loop control strategy is proposed. For further validation, a simulated ...

A Closed-Loop Controller for Cable-Driven Hyper-Redundant Manipulator with Joint Angle Sensors * · Engineering. 2019 IEEE International Conference on Robotics…