Design and Kinematic Control of the Cable-Driven Hyper-Redundant Manipulator for Potential Underwater Applications

Design and Kinematic Control of the Cable-Driven Hyper-Redundant Manipulator for Potential Underwater Applications

Underwater manipulators are important robotic tools in the exploration of the ocean environment. Up to now, most existing underwater manipulators are rigid and with fixed 5 or 7 degrees of freedom (DOF), which may not be very suitable for some complicated underwater scenarios (e.g., pipe networks, n...

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Bibliographic Details
Main Authors: Jianzhong Tang, Yougong Zhang, Fanghao Huang, Jianpeng Li, Zheng Chen, Wei Song, Shiqiang Zhu, Jason Gu
Format: Article
Language:English
Published: MDPI AG 2019-03-01
Series:Applied Sciences
Subjects:
hyper redundancy
cable-driven manipulator
mechanical design
kinematics
Online Access:http://www.mdpi.com/2076-3417/9/6/1142

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