Dynamic Analysis and Sliding Mode Control of a Novel Extendable Modular Multi-DOFs Link
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In this paper, we have considered the new extendable modular multi-DOFs link to have a larger reachable workspace and more dexterous manipulability, as compared to a typical link. As a part of the extendable modular robot (EMR), our link is implemented to allow free motion when performing required tasks. In addition, this paper deals with a function of adjusting the link's length (within 25% of the nominal length). Our investigation also focuses on the dynamics of a multi-DOFs link and the nonlinear controller for a given trajectory. The simulation results show the effectiveness of this control approach. Copyright © 2012 by ASME.
author list (cited authors)
Yi, H., Yoo, J. H., & Langari, R.