Equilibrium point control of a programmable mechanical compliant manipulator
This thesis presents the design and experimental application of the Equilibrium Point Hypothesis as a controller model for a programmable mechanical compliant manipulator. A planar manipulator was designed and constructed with two joints, each powered by a pair of antagonistic McKibben actuators (ai...
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| Language: | English |
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2009
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| Online Access: | http://hdl.handle.net/2429/15543 |