NDLI: Cable stiffened flexible link manipulator

Content Provider	IEEE Xplore Digital Library
Author	Dixit, R. Prasanth Kumar, R.
Copyright Year	2014
Description	Author affiliation: Res. Center Imarat, Hyderabad, India (Dixit, R.) \|\| Dept. of Mech. & Aerosp. Eng., Indian Inst. of Technol. Hyderabad, Yeddumailaram, India (Prasanth Kumar, R.)
Abstract	Flexible link manipulators (FLMs) have several advantages over rigid link manipulators (RLMs) in aspects such as mass and moment of inertia, energy consumption, and speed. However, they suffer from a major limitation of flexibility that affects precision of operation. Control algorithms that are currently used for RLMs cannot be directly applied to FLMs. Majority of research on FLMs has focused on how to eliminate or reduce the undesirable effects of flexibility by specially developed control algorithms. In this paper, we introduce a new design change that stiffens the flexible link manipulator using cables and minimizes the effect of flexibility while retaining the advantages of FLMs. Such cable stiffened flexible link manipulators have the advantage of allowing the use of existing control techniques designed for RLMs. Effectiveness of this new approach is shown through simulations and experiments.
Starting Page	871
Ending Page	876
File Size	987422
Page Count	6
File Format	PDF
e-ISBN	9781479969340
DOI	10.1109/IROS.2014.6942662
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-09-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Payloads Manipulators Actuators Trajectory Sensors Oscillators Mathematical model
Content Type	Text
Resource Type	Article

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