In this paper, we present a tendon-driven small manipulator system and its control algorithm guided by vision. Our tendon-driven small manipulator has total 6 degrees of freedom, which are enough for working either stand-alone or together with macro-m...
In this paper, we present a tendon-driven small manipulator system and its control algorithm guided by vision. Our tendon-driven small manipulator has total 6 degrees of freedom, which are enough for working either stand-alone or together with macro-manipulator. In order to overcome inherent positioning inaccuracy of the tendon-driven mechanism, we propose to use vision as a means to perform tasks correctly. We show kinematic, workspace and stiffness analysis of the mini manipulations system.