Abstract
This report presents the development of a cable-driven hyper redundant flexible robot arm that has 10 joints with 20 degrees of freedom. The robot arm has the cable-driven mechanism for actuating each joint of the robot; instead of attaching the motors directly at each joints of the robot, the motors are deployed outside of the robot and the actuation force from the motors are transmitted by the flexible cables to each joint. The cable-driven mechanism makes the motion of the robot more flexible and dynamic by reducing the loads of motors to the robot. The control algorithm is designed based on the inverse kinematics using Pseudo inverse of Jacobian matrix. Detailed performances of this 10-joint robot arm and experimental results are outlined in further detail throughout this report.
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