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Shock and Vibration
Volume 2017 (2017), Article ID 2762169, 14 pages
Research Article

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

School of Electrical Engineering, Southeast University, Nanjing 210096, China

Correspondence should be addressed to Bingtuan Gao

Received 11 May 2017; Accepted 10 July 2017; Published 30 August 2017

Academic Editor: Evgeny Petrov

Copyright © 2017 Leijie Jiang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The paper focuses on the design and nonlinear control of the humanoid wrist/shoulder joint based on the cable-driven parallel mechanism which can realize roll and pitch movement. In view of the existence of the flexible parts in the mechanism, it is necessary to solve the vibration control of the flexible wrist/shoulder joint. In this paper, a cable-driven parallel robot platform is developed for the experiment study of the humanoid wrist/shoulder joint. And the dynamic model of the mechanism is formulated by using the coupling theory of the flexible body’s large global motion and small flexible deformation. Based on derived dynamics, antivibration control of the joint robot is studied with a nonlinear control method. Finally, simulations and experiments were performed to validate the feasibility of the developed parallel robot prototype and the proposed control scheme.