Kinematic Decoupling and α-TDE-NTSM Control for Single-Tendon-Driven Manipulators

Tendon-driven manipulators possess obvious advantages compared to rigid-link manipulators, such as lighter weight, greater flexibility, and adaptability to confined spaces. To solve the problems of backlash and improve the accuracy of motion in specific application environments, this paper proposes...

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Hlavní autoři:	Fei Yan, Jianhua Li, Huawei Han, Qiwang Xu, Linfeng Hu
Médium:	Artigo
Jazyk:	Inglês
Vydáno:	MDPI AG 2026-05-01
Edice:	Actuators
Témata:	tendon-driven manipulator motion coupling kinematic modeling trajectory tracking control nonsingular terminal sliding mode (NTSM) time-delay estimation (TDE)
On-line přístup:	https://www.mdpi.com/2076-0825/15/5/271
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