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Nonlinear control of tendon driven robot manipulators: Elimination of actuator side position measurements
In this study, a partial state feedback controller is proposed for the link position tracking control problem of flexible tendon driven robotic systems. Specifically; a nonlinear model based controller is formulated for ...
Nonlinear adaptive partial state feedback trajectory tracking control of tendon driven robot manipulators
In this work, the link position tracking control problem of a tendon driven robotic system is studied in the presence of parametric uncertainty and lack of velocity measurements both of links and actuators. A partial state ...