Philip A. Voglewede

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—Cable-driven robots and multifinger grasps are closely related to each other by the fact that both systems can provide unidirectional forces to the object to be constrained. While prior research primarily related cable-driven robots to grasps without friction, this article seeks to establish relationships between certain cable-driven robots and grasps with(More)
—This short paper outlines how polynomial chaos theory (PCT) can be utilized for manipulator dynamic analysis and controller design in a 4-DOF selective compliance assembly robot-arm-type manipulator with variation in both the link masses and payload. It includes a simple linear control algorithm into the formulation to show the capability of the PCT(More)
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