IEEE - Institute of Electrical and Electronics Engineers, Inc. - Point-to-point motion control of a pendulum-like 3-dof underactuated cable-driven robot

2010 IEEE International Conference on Robotics and Automation (ICRA)

Author(s): Lefrançois, S. ; Gosselin, C.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2010
Conference Location: Anchorage, AK, USA, USA
Conference Date: 3 May 2010
Page(s): 5,187 - 5,193
ISBN (CD): 978-1-4244-5040-4
ISBN (Paper): 978-1-4244-5038-1
ISSN (CD): 1050-4729
ISSN (Paper): 1050-4729
DOI: 10.1109/ROBOT.2010.5509656
Regular:

This paper presents a novel planar three-degree-of-freedom pendulum-like underactuated robot. The robot consists of an end-effector with an actuated arm suspended on a cable wound on a... View More

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