In this project, a redundant 7DOF robot is developed based on a conventional-design cable-driven mechanism with integration of intelligent robust controllers for tracking control and automatically avoiding obstacles. Both the goal and obstacle positions are localized by a stereo camera. Simulation and real-time experiments were performed to investigate the effectiveness and feasibility of the developing system.
Authors: Do Hoang Thai Duong, Nguyen Thi Ngoc Thi, Pham Phung Huynh Dinh Dai, and Dang Xuan Ba