In this project, a redundant 7DOF robot is developed based on a cable-driven mechanism with integration of an intelligent controller for tracking control and automatically avoiding obstacles. A stereo camera was built up to detect both the goal and obstacle positions. Simulation and real-time experiments were performed to investigate the effectiveness and feasibility of the developing system.
Authors: Tranh Thanh Hai, Dao Hung Vuong, and Dang Xuan Ba