Zhenpu Zhu

Hybrid Tension and Configuration Control of Cable-Driven Hyper-Redundant Robots for High Accuracy and Stability

Due to the advantages of dexterity and adaptability, cable-driven hyper-redundant robots (CDHRRs) are promising for detection in confined spaces like narrow internal cavities. However, due to redundant degrees of freedom (DoFs), CDHRRs are susceptible to the singular configuration, which aggravates