Design and kinematic control of the cable-driven hyper-redundant manipulator for potential underwater applications

Keyphrases

• Kinematic Control 100%
• Underwater Applications 100%
• Design Control 100%
• Hyper-redundant Manipulator 100%
• Cable-driven 100%
• Cable Joint 50%
• End-effector 50%
• Kinematics 33%
• Joint Angle 33%
• Underwater Manipulator 33%
• Tracking Performance 33%
• Joint Kinematics 33%
• Cable 16%
• Control Scheme 16%
• Control Design 16%
• Load Capacity 16%
• Underwater Environment 16%
• Geometric Model 16%
• Robotic Tool 16%
• Joint Counts 16%
• Series-parallel System 16%
• Load Carrying 16%
• Seven Degrees of Freedom 16%
• Manipulator 16%
• Cable Length 16%
• Precision Control 16%
• Hyper-redundant 16%
• Connection Redundancy 16%
• Hyper-redundancy 16%
• Spatial Coordinate Transformation 16%
• Task Requirements 16%
• Coordinate Transformation Matrix 16%
• Mapping Relationship 16%
• 5 Degrees of Freedom 16%
• Tendon 16%
• Tubular Structure 16%
• Load Operation 16%
• Strong Potential 16%
• Operation Accuracy 16%
• Complex Mapping 16%
• Kinematics Solution 16%
• Geometric Relationships 16%
• Kinematic Analysis 16%
• Redundant Degree of Freedom 16%
• Continuum Manipulator 16%
• Biomimetic 16%
• Ocean Environment 16%
• Pipe Network 16%
• Underwater Tasks 16%
• Deep Cavity 16%
• Manipulator System 16%

Engineering

• Joints (Structural Components) 100%
• Redundant Manipulator 100%
• Manipulator 66%
• End Effector 50%
• Tasks 33%
• Joint Kinematics 33%
• Degree of Freedom 33%
• Angle Joint 33%
• Adaptability 16%
• Control Scheme 16%
• Transformation Matrix 16%
• Control Design 16%
• Geometric Model 16%
• Parallel Connection 16%
• Biomimetics 16%
• Kinematic Analysis 16%
• Load Capacity 16%
• Manipulator System 16%
• Spatial Coordinate 16%
• Coordinate Transformation 16%
• Redundant Degree 16%