One of the most challenging issues in adaptive control robot manipulators with kinematic uncertainties is requirement inverse Jacobian matrix regressor form. This inevitable case parallel robots, whose dynamic equations are written directly task space. In this paper, an controller designed for robots based on representation form, such that asymptotic trajectory tracking ensured. The main idea s...

Cable-driven parallel robots (CDPRs) have the potential of being go-to rapidly deployable and reconfigurable robots. This is because cables are used instead rigid links thus overall robot architecture can consist only four masts, eight motors very long actuating moving-platform. paper introduces a large CDPR called ROCASPECT. Its accuracy repeatability been evaluated according to ISO 9283:1998....

In this paper a unified contact force control approach for cable-driven parallel robots (CDPR) is proposed. The contact force controller is governed by two control loops: 1) An inner impedance control loop enforcing a dynamical relationship between the internal forces and the end-effector velocities to maintain a desired tension level in the cable system. 2) An outer admittance control loop con...

In this study, a robust neuro-adaptive controller for cable-driven parallel robots is proposed. The robust neuroadaptive control system is comprised of a computation controller and a robust controller. The computation controller containing a neural-network-estimator with radial basis function activator is the principal controller and the robust controller is designed to achieve tracking perform...

ommunication from within the steel pipeline by inspecting or sensing tools or robots is usually performed via a cable. As the length of the tether restricts the communication distance and as the cable may encumber the tool’s movement, we explore the feasibility of acoustic communication from within the liquid-filled pipe to an external sink through the steel pipe walls. The paper derives the so...

The Dynamic Tensegrity Robotics Lab (DTRL) at the NASA Ames Research center is actively researching the design, control, and locomotion of tensegrity robots for planetary exploration. The advantage of using a tensegrity robot emerges from the fact that it behaves as a structured soft robot. This term, structured soft robotic system, comes from the fact that tensegrity systems are traditionally ...