ROBOT  2022, Vol. 44 Issue (4): 410-417,430    DOI: 10.13973/j.cnki.robot.210272
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Dynamic Modeling and Experimental Validation of Cable-driven Continuum Robots Actuated in Position-Force Mode
LIU Zhongzhen1, CAI Zhiqin1, PENG Haijun1,2, WANG Gang3, ZHANG Xingang4, WU Zhigang2
1. Department of Engineering Mechanics, Dalian University of Technology, Dalian 116024, China;
2. State Key Laboratory of Structural Analysis for Industrial Equipment, Dalian University of Technology, Dalian 116024, China;
3. School of Ocean Science and Technology, Dalian University of Technology, Dalian 124221, China;
4. School of Science, Qingdao University of Technology, Qingdao 266520, China
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