Modeling Cable-Driven Robot With Hysteresis and Cable-Pulley Network Friction

In this article, a method of modeling robotic systems with closed-circuit cable-pulley transmissions using the independently developed hysteretic cable stretch model and cable-pulley network friction model is presented. The hysteretic cable stretch model captures the responses of the cable including...

Ausführliche Beschreibung

Gespeichert in:

Bibliographische Detailangaben
Veröffentlicht in:	IEEE/ASME transactions on mechatronics 2020-04, Vol.25 (2), p.1095-1104
Hauptverfasser:	Miyasaka, Muneaki, Haghighipanah, Mohammad, Li, Yangming, Matheson, Joseph, Lewis, Andrew, Hannaford, Blake
Format:	Artikel
Sprache:	eng
Schlagworte:	Circuits Damping Dynamic models Dynamics Friction Hysteresis Internal friction Linear damping Low speed Mechanical cables medical robotics modeling Modelling nonlinear systems Pulleys Robotic surgery Robots Solid modeling wire
Online-Zugang:	Volltext bestellen
Tags:	Tag hinzufügen Keine Tags, Fügen Sie den ersten Tag hinzu!

Schreiben Sie den ersten Kommentar!