Abstract
Non-elastic hyper-flexible elements like tethers and ropes will have various possibilities of unconventional manipulations. In this paper, motion control for casting of hyper-flexible manipulator(HFM) is to be considered. The HFM is simulated as a multi-link system connected with non-elastic passive joints. Casting actuations can be determined from phase portrait of horizontal tip position or vertical tension at actuated arm. The proposed method can achieve steady swinging in straight shape with arbitrary amplitude.
