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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:191/50  |  Submit date:2020/04/01
Tendon-sheath actuators  robotic manipulator  compliant control  position transmission model  parameter identifications  series elastic actuators  transmission characteristic  
Mechanism and Position Tracking Control of a Robotic Manipulator Actuated by the Tendon-Sheath 期刊论文
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2020, 卷号: 100, 期号: 3-4, 页码: 849–862
Authors:  Yin M(尹猛);  Xu ZG(徐志刚);  Zhao ZL( 赵志亮);  Wu HT(吴浩廷)
Adobe PDF(6503Kb)  |  Favorite  |  View/Download:90/14  |  Submit date:2020/09/12
Tendon-sheath transmission  Robotic manipulator  Position tracking  Fuzzy PID control  Time-delay estimation  
Transmission characteristics analysis and compensation control of double tendonsheath driven manipulator 期刊论文
SENSORS, 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:127/22  |  Submit date:2020/03/22
tendon-sheath drive  robot  compensation control  trajectory tracking  
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)
Adobe PDF(1177Kb)  |  Favorite  |  View/Download:404/72  |  Submit date:2015/03/17
Space Station Redocking Manipulator  Ultra-large Moment Of Inertia Simulation  Equivalent Dynamics  Equivalent Moment Of Inertia