Darwin Lau

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—Multilink cable-driven manipulators offer the com-pactness of serial mechanisms while benefitting from the advantages of cable-actuated systems. One major challenge in modeling multilink cable-driven manipulators is that the number of combinations in the possible cable-routing increases exponentially with the number of rigid bodies. In this paper, a(More)
—Joint interaction forces and moments play a significant role within multilink cable-driven manipulators (MCDMs). In this paper, the consideration of joint interaction forces and moments in the objective functions and constraints specific to the inverse dynamics of MCDMs are considered for the first time. By formulating the relationship between the joint(More)
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