Abstract
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.
Degree Type
Dissertation
Degree Name
Doctor of Philosophy (PhD)
Department
Mechanical Engineering
Date of Award
January 2015
Recommended Citation
Bhardhwaj, Jayender Rajgopal, "Modeling and Direct Adaptive Robust Control of Flexible Cable-Actuated Systems" (2015). Open Access Dissertations. 1335.
https://docs.lib.purdue.edu/open_access_dissertations/1335
First Advisor
Bin Yao
Committee Member 1
Daniel DeLaurentis
Committee Member 2
Peter H Meckl
Committee Member 3
George TC Chiu