Date of Award
January 2015
Degree Type
Dissertation
Degree Name
Doctor of Philosophy (PhD)
Department
Mechanical Engineering
First Advisor
Bin Yao
Committee Member 1
Daniel DeLaurentis
Committee Member 2
Peter H Meckl
Committee Member 3
George TC Chiu
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.
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