Abstract:Abstract. The mapping relationship between the driving space and
the workspace is essential for the precise control of a cable-driven
hyper-redundant robot. For a hyper-redundant robot driven by cables, the
relationships between the driving space and the joint space and between the
joint space and the workspace were studied. A joint-decoupling kinematics
analysis method was proposed and a kinematic analysis was presented. Based
on the analysis of the coupling effect between the cable-driving space and the join… Show more
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