Using pulley efficiency data from the new testing machine in a tension allocation controller reduced a wire-driven robot's end-effector force root mean square error from 10.9 N to 9.5 N, about 13%.
Design and control of a seven-degrees-of-freedom manipulator actuated by a coupled tendon-driven system,
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A Universal Wire Testing Machine for Enhancing the Performance of Wire-Driven Robots
Using pulley efficiency data from the new testing machine in a tension allocation controller reduced a wire-driven robot's end-effector force root mean square error from 10.9 N to 9.5 N, about 13%.