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

Figure 9

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

(a)

(b)

(c)

(d)

(e)

(f)