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

<div>Local mechanical design of the parallel robot: (a) cable force transmission mechanism, (b) perspective 1 of the cable force measuring mechanism, and (c) perspective 2 of the cable force measuring mechanism.</div>

Shock and Vibration

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Figure 4

Figure 4: Design and Nonlinear Control of a 2-DOF Flexible Parallel Humanoid Arm Joint Robot 