A Hybrid Model and Model-Free Position Control for a Reconfigurable Manipulator

IEEE/ASME Transactions on Mechatronics, pp. 785-795, 2019.

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Abstract:

A novel reconfigurable manipulator, which is composed of active rigid joints and deformable links, can obtain relatively dexterous end-effector and extended workspace with fewer joints by bending its deformable links. However, frequent changes in links’ shape bring difficulties to the model and control of the manipulator. Considering the ...More

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