Science teaching in secondary schools is often abstract for students. Even if some experiments can be conducted in classrooms, mainly for chemistry or some physics fields, mathematics is not an experimental science. Teachers have to convince students that theorems have practical implications. We present teachers an original and easy-to-use pedagogical tool: a cable-driven robot with a Web-based...

This paper presents design and kinematic analysis for a cable-driven parallel robotic (CDPR) manipulator with four cables, The CDPR manipulator produces a planar motion including two translational and one rotational degrees of freedom. To move the end-effector of CDPR, its kinematic structure is analyzed and the inverse kinematics is formulated in the closed-form solution. The experimental test...

Solving the forward kinematics (FK) of parallel robots is known to be a difficult task and the problem is even more complex for cable driven parallel robot (CDPR): the system of equations that has to be solved is larger than with rigid legs as first the static equations have to be taken into account and, second because the deformation of the cables because of their elasticity and their mass may...

This paper presents a novel robust fractional PIλ controller design for flexible joint electrically driven robots. Because of using voltage control strategy, the proposed approach is free of problems arising from torque control strategy in the design and implementation. In fact, the motor's current includes the effects of nonlinearities and coupling in the robot manipulator. Therefore, cancella...

Surgical debridement is the process of removing dead or damaged tissue to allow the remaining parts to heal. Automating this procedure could reduce surgical fatigue and facilitate teleoperation, but doing so is challenging for Robotic Surgical Assistants (RSAs) such as the da Vinci Research Kit (dVRK) due to inherent non-linearities in cable-driven systems. Consequently, we propose and evaluate...

In this paper, the general dynamic equation of motion of Cable Driven Robots (CDRs) is obtained from Lagrangian formulation. A computational technique is developed for obtaining an optimal trajectory to maximize the dynamic load carrying capacity for a given point-to-point task. Dynamic equations are organized in a closed form and are formulated in the state space form. In order to nd the Dynam...

Abstract With the growing demand for miniaturized workspaces, microrobots has been increasing in robotics research. Compared to traditional rigid robots, soft robots have better robustness and safety. a flexible structure, can undergo large deformations achieve variety of motion states. Researchers are working design fabricate based on biomimetic principles, using magnetic fields cable-free act...

This paper presents a novel robust fractional PIλ controller design for flexible joint electrically driven robots. Because of using voltage control strategy, the proposed approach is free of problems arising from torque control strategy in the design and implementation. In fact, the motor's current includes the effects of nonlinearities and coupling in the robot manipulator. Therefore, cancella...

In this paper, a task-space controller for electrically driven robot manipulators is developed using a robust control algorithm. The controller is designed using voltage control strategy. Based on the nominal model of the robotic arm, the desired signals for motor currents are calculated and then the voltage control law is proposed based on the current errors and motor nominal electrical model....