Design and motion control of an under-actuated snake arm maintainer

This study presents an under-actuated snake arm maintainer (SAM) for complex and extreme environments such as nuclear power plants. The structure adopts the layered cable drive principle, whereby a single drive layer drives multiple joints. This design significantly reduces the complexity of the con...

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Veröffentlicht in:	Robotica 2022-06, Vol.40 (6), p.1763-1782
Hauptverfasser:	Qin, Guodong, Ji, Aihong, Cheng, Yong, Zhao, Wenlong, Pan, Hongtao, Shi, Shanshuang, Song, Yuntao
Format:	Artikel
Sprache:	eng
Schlagworte:	Algorithms Angular velocity Complexity Control methods Extreme environments Inverse kinematics Motion control Nuclear power plants Nuclear reactors Tracking control Trajectory control Trajectory planning Wire rope
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