Modelling and Control of the Multi-Stage Cable Pulley-Driven Flexible-Joint Robot
This work is concerned with the task space impedance control of a robot driven through a multi-stage nonlinear flexible transmission system. Specifically, a two degrees-of-freedom cable pulley-driven flexible-joint robot is considered. Realistic modelling of the system is developed within the bond g...
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| Format: | Article |
| Language: | English |
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SAGE Publishing
2014-07-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/58697 |