Precise control of industrial automation systems with non-linear kinematics due to joint
elasticity, variation in cable tensioning, or backlash is challenging; especially in systems that …

In this article, a method of modeling robotic systems with closed-circuit cable-pulley
transmissions using the independently developed hysteretic cable stretch model and cable …

Tendon-driven actuation allows for light and compact manipulator designs with enhanced
safety features. One of the key challenges in model-based control of tendon-driven robots is …

Cable-driven robots enable compact design by allowing actuators to be mounted away from
joints. This kind of actuation is desired in surgical robots. The cables in these robots must …

This paper investigates the dynamic modeling and adaptive control of a single degree-of-
freedom flexible cable-driven parallel robot (CDPR). A Rayleigh–Ritz cable model is …

Cable driven power transmission is popular in many manipulator applications including
medical arms. In spite of advantages obtained by removing motors from the mechanism …

Cable driven manipulators are popular in surgical robots due to compact design, low inertia,
and remote actuation. In these manipulators, encoders are usually mounted on the motor …

This paper proposes a method to estimate and compensate for the changes of cable tension
in the control of cable driven mechanisms. Cable tension may depend on various factors …

In a teleoperated system, misalignment between the master and slave manipulators can
result from clutching, errors in the kinematic model, and/or sensor errors. This study …

Cable driven power transmissions are used in applications such as haptic devices, surgical
robots etc. The use of flexible cable based power transmission often causes relative motion …