The tendon-sheath actuated system (TSAS) has been widely adopted in many cases due to its merits of compliance, dexterity, and remote transmission. However, realizing precise control of the distal end ...

Five-axis machine tools are widely used for machining complex parts. The limited dynamic bandwidth of servo axes leads to tracking errors during motion. These tracking errors are kinematically ...

This guide to compensating controls is excerpted from chapter 12 of PCI Compliance by Dr. Anton Chuvakin and Branden Williams (Syngress, 2009). For a full sample ...

(A) 3D model of the manipulator structure, consisting of 3 continuum segments. The manipulator operates in the plane. (B) Close-up view of the revolute joint between adjacent disks. (C) Diagram ...