Matches in SemOpenAlex for { <https://semopenalex.org/work/W4226133168> ?p ?o ?g. }
Showing items 1 to 69 of
69
with 100 items per page.
- W4226133168 abstract "Hyper-redundant robots are usually used in confined space for the inspection and operations because of their dexterity and conformability. However, these robots usually use the kinematics to calculate their shape for control, and errors could be introduced inevitably due to the assembly, cable elongation, etc. This paper develops a cable-driven multi-section robot with angular sensing units for confined space. Kinematics based on D-H convention is built, and an optimization algorithm based on two-layer iteration is developed to achieve the follow-the-leader control. A feedback control using angular sensing is implemented to improve the overall accuracy. Also, force sensors are also employed to measure the tension on each actuation cable at the proximal end. Different target curves are generated for testing the feasibility, and motion simulations are conducted to successfully demonstrate the robot’s insertion. Finally, six experiments on a three-link robot prototype are carried out to validate the proposed kinematics and control algorithm. Results show that the average positioning error for the tip is 5.27 mm." @default.
- W4226133168 created "2022-05-05" @default.
- W4226133168 creator A5017790286 @default.
- W4226133168 creator A5020647265 @default.
- W4226133168 creator A5024584263 @default.
- W4226133168 creator A5024922053 @default.
- W4226133168 creator A5028361786 @default.
- W4226133168 creator A5058138487 @default.
- W4226133168 creator A5080932283 @default.
- W4226133168 date "2021-12-27" @default.
- W4226133168 modified "2023-09-23" @default.
- W4226133168 title "A Cable-Driven Hyper-Redundant Robot with Angular Sensing" @default.
- W4226133168 doi "https://doi.org/10.1109/robio54168.2021.9739505" @default.
- W4226133168 hasPublicationYear "2021" @default.
- W4226133168 type Work @default.
- W4226133168 citedByCount "0" @default.
- W4226133168 crossrefType "proceedings-article" @default.
- W4226133168 hasAuthorship W4226133168A5017790286 @default.
- W4226133168 hasAuthorship W4226133168A5020647265 @default.
- W4226133168 hasAuthorship W4226133168A5024584263 @default.
- W4226133168 hasAuthorship W4226133168A5024922053 @default.
- W4226133168 hasAuthorship W4226133168A5028361786 @default.
- W4226133168 hasAuthorship W4226133168A5058138487 @default.
- W4226133168 hasAuthorship W4226133168A5080932283 @default.
- W4226133168 hasConcept C121332964 @default.
- W4226133168 hasConcept C154945302 @default.
- W4226133168 hasConcept C19966478 @default.
- W4226133168 hasConcept C2775924081 @default.
- W4226133168 hasConcept C39920418 @default.
- W4226133168 hasConcept C41008148 @default.
- W4226133168 hasConcept C44154836 @default.
- W4226133168 hasConcept C47446073 @default.
- W4226133168 hasConcept C5594486 @default.
- W4226133168 hasConcept C62520636 @default.
- W4226133168 hasConcept C74222875 @default.
- W4226133168 hasConcept C74650414 @default.
- W4226133168 hasConcept C90509273 @default.
- W4226133168 hasConceptScore W4226133168C121332964 @default.
- W4226133168 hasConceptScore W4226133168C154945302 @default.
- W4226133168 hasConceptScore W4226133168C19966478 @default.
- W4226133168 hasConceptScore W4226133168C2775924081 @default.
- W4226133168 hasConceptScore W4226133168C39920418 @default.
- W4226133168 hasConceptScore W4226133168C41008148 @default.
- W4226133168 hasConceptScore W4226133168C44154836 @default.
- W4226133168 hasConceptScore W4226133168C47446073 @default.
- W4226133168 hasConceptScore W4226133168C5594486 @default.
- W4226133168 hasConceptScore W4226133168C62520636 @default.
- W4226133168 hasConceptScore W4226133168C74222875 @default.
- W4226133168 hasConceptScore W4226133168C74650414 @default.
- W4226133168 hasConceptScore W4226133168C90509273 @default.
- W4226133168 hasFunder F4320309612 @default.
- W4226133168 hasFunder F4320321001 @default.
- W4226133168 hasFunder F4320337572 @default.
- W4226133168 hasLocation W42261331681 @default.
- W4226133168 hasOpenAccess W4226133168 @default.
- W4226133168 hasPrimaryLocation W42261331681 @default.
- W4226133168 hasRelatedWork W1604608633 @default.
- W4226133168 hasRelatedWork W17524967 @default.
- W4226133168 hasRelatedWork W1896662493 @default.
- W4226133168 hasRelatedWork W1980982626 @default.
- W4226133168 hasRelatedWork W2059706327 @default.
- W4226133168 hasRelatedWork W2111449477 @default.
- W4226133168 hasRelatedWork W2181541019 @default.
- W4226133168 hasRelatedWork W2895508245 @default.
- W4226133168 hasRelatedWork W2922441285 @default.
- W4226133168 hasRelatedWork W3040342999 @default.
- W4226133168 isParatext "false" @default.
- W4226133168 isRetracted "false" @default.
- W4226133168 workType "article" @default.