Design and Nonlinear Control of a 2-DOF Flexible Parallel Humanoid Arm Joint Robot

Figure 10

Responses of the system under closed-loop: (a) theoretical results of all cable forces under closed-loop, (b) experimental results of all cable forces under closed-loop, (c) experimental results of all motor armature currents under closed-loop, (d) experimental results of all cable lengths under closed-loop, (e) theoretical result of under closed-loop, and (f) experimental result of under closed-loop.

(a)

(b)

(c)

(d)

(e)

(f)