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Kinematic Control of a New Hyper-Redundant Manipulator with Lockable Joints

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Figure

Figure 2. The schematic of the cable-actuated hyper redundant manipulator. The ith link is unlocked and the others are locked.
Figure 3. Schematic of the link mechanism for the redundant manipulator with RPS mechanism.
Figure 4. Block diagram of kinematic control of redundant manipulator with lockable joints.
Table 1. The manipulator specication and parameters.
+4

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