Control Structure of a Hyper-Flexible Manipulator

Abstract

A Hyper-Flexible Manipulator (an HFM) is a robotic arm which has the mechanical structure like a cable. In this paper, we clarify the control structure of an HFM based on the Lagrangian and Hamiltonian dynamics, i.e., showing the hyper-underactuated nature of the system and the equilibrium points achievable by control.