Modeling Cable-Driven Joint Dynamics and Friction: a Bond-Graph Approach
Daniele Ludovico,Paolo Guardiani,Alessandro Pistone,Jinoh Lee,Ferdinando Cannella,Darwin G. Caldwell,Carlo Canali,Daniele Ludovico,Paolo Guardiani,Alessandro Pistone,Jinoh Lee,Ferdinando Cannella,Darwin G. Caldwell,Carlo Canali
Cable-driven joints proved to be an effective solution in a wide variety of applications ranging from medical to industrial fields where light structures, interaction with unstructured and constrained environments and precise motion are required. These requirements are achieved by moving the actuators from joints to the robot chassis. Despite these positive properties a cable-driven robotic arm re...
