Modeling and Direct Adaptive Robust Control of Flexible Cable-Actuated Systems

Cable-actuated systems provide an effective method for precise motion transmission over various distances in many robotic systems. In general, the use of cables has many potential advantages such as high-speed manipulation, larger payloads, larger range of motion, access to remote locations and applications in hazardous environments. However, cable flexibility inevitably causes vibrations and poses a concern in high-bandwidth, high-precision applications.

Name thesis:degree_name

Doctor of Philosophy (PhD)

Level thesis:degree_level

Dissertation

Discipline thesis:degree_discipline

Mechanical Engineering

Year

2015

Author dc:creator

• Bhardhwaj, Jayender Rajgopal

Contributors dc:contributor

• Bin Yao
• Daniel DeLaurentis
• Peter H Meckl
• George TC Chiu

• adaptive robust control
• cable-actuation
• cable manipulators
• flexible cable

Repository record dc:identifier

https://docs.lib.purdue.edu/open_access_dissertations/1335

OAI identifier oai:identifier

oai:docs.lib.purdue.edu:open_access_dissertations-2551