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Transmission characteristics analysis and compensation control of double tendonsheath driven manipulator 期刊论文
Sensors (Switzerland), 2020, 卷号: 20, 期号: 5, 页码: 1-17
Authors:  Wu HT(吴浩廷);  Yin M(尹猛);  Xu ZG(徐志刚);  Zhao ZL( 赵志亮);  Han W(韩伟)
Adobe PDF(3097Kb)  |  Favorite  |  View/Download:102/22  |  Submit date:2020/03/22
tendon-sheath drive  robot  compensation control  trajectory tracking  
Compliant Control of Single Tendon-Sheath Actuators Applied to a Robotic Manipulator 期刊论文
IEEE Access, 2020, 卷号: 8, 页码: 37361-37371
Authors:  Yin M(尹猛);  Wu HT(吴浩廷);  Xu ZG(徐志刚);  Han W(韩伟);  Zhao ZL( 赵志亮)
Adobe PDF(3974Kb)  |  Favorite  |  View/Download:141/46  |  Submit date:2020/04/01
Tendon-sheath actuators  robotic manipulator  compliant control  position transmission model  parameter identifications  series elastic actuators  transmission characteristic  
基于套索传动的五指灵巧手设计与主从控制研究 期刊论文
中国机械工程, 2020, 页码: 1-11
Authors:  尹猛;  徐志刚;  赵志亮;  韩伟
View  |  Adobe PDF(1137Kb)  |  Favorite  |  View/Download:30/8  |  Submit date:2020/08/22
套索传动  五指灵巧手  关节机构  工作空间  主从控制  
Mechanism and Position Tracking Control of a Robotic Manipulator Actuated by the Tendon-Sheath 期刊论文
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2020, 页码: 1-14
Authors:  Yin M(尹猛);  Xu ZG(徐志刚);  Zhao ZL( 赵志亮);  Wu HT(吴浩廷)
View  |  Adobe PDF(6501Kb)  |  Favorite  |  View/Download:31/9  |  Submit date:2020/09/12
Tendon-sheath transmission  Robotic manipulator  Position tracking  Fuzzy PID control  Time-delay estimation  
Load equivalent simulation method of ultra-large moment of inertia of space station redocking manipulator 期刊论文
Journal of Information and Computational Science, 2015, 卷号: 12, 期号: 2, 页码: 431-441
Authors:  Xu ZG(徐志刚);  Bai XL(白鑫林);  Yang MY(杨明毅);  Wang JY(王军义)
View  |  Adobe PDF(1177Kb)  |  Favorite  |  View/Download:392/71  |  Submit date:2015/03/17
Space Station Redocking Manipulator  Ultra-large Moment Of Inertia Simulation  Equivalent Dynamics  Equivalent Moment Of Inertia  
超大惯量模拟方法在空间转位装置中的应用研究 期刊论文
机械设计, 2014, 卷号: 31, 期号: 12, 页码: 21-25
Authors:  哈乐;  房立金;  徐志刚
View  |  Adobe PDF(491Kb)  |  Favorite  |  View/Download:218/39  |  Submit date:2015/02/04
空间转位  惯量模拟  Lagrange方程  动力学仿真