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- W4386104481 abstract "The purpose of this paper is to design a motion controller for cable-driven serial manipulators (CDSMs) with the two systems of cable-pulley and ball-screw, which should improve the motion accuracy compared with the previous controller. First, an algorithm for determining the cable’s contact side and a cable length model based on this algorithm are proposed. Next, a hysteresis compensation algorithm based on the ball-screw’s motion direction change is proposed. Finally, an improved controller based on these models and algorithms is proposed. The experimental results verify the correctness and effectiveness of the improved controller." @default.
- W4386104481 created "2023-08-24" @default.
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- W4386104481 date "2023-06-16" @default.
- W4386104481 modified "2023-09-23" @default.
- W4386104481 title "An Improved Motion Controller for Cable-Driven Serial Manipulators with Cable-Pulley and Ball-Screw Systems" @default.
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- W4386104481 doi "https://doi.org/10.1109/icras57898.2023.10221603" @default.
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