Positioning evaluation of tendon-driven flexible manipulators based on interval analysis


Tendon-driven flexible manipulators have diverse applications. However, kinematic errors are one of main sources of the positioning inaccuracy for the manipulators. An interval-Analysis-based approach is applied to evaluate the positioning performance by imposing bounds on the kinematic parameters and control input. Simulation results confirm that the calculated intervals and refined bounds fully enclose the tip positions.

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