# How to define the degrees of freedom of a flexible manipulator?

Consider a cable-driven flexible manipulator which has 3 cables. Consider the 3 cables to be actuated by 3 motors. Assume that by pulling the three cables in different configurations, we can span the entire 3D space in the workspace of the manipulator.

The manipulator is made up of a single flexible backbone and has disks mounted on it as shown in the figure..

I read on some sources as the manipulator is flexible it has infinite degrees of freedom. Is that correct?

How to define the degrees of freedom of the manipulator in task space and in configuration space?

• could you replace the space between any two disks with two servos in XY orientation and maintain functionality? Jan 27, 2020 at 18:28
• You have to keep in mind your system is actually a 2 stage system with independent control from each other...hence “section 1&2” Jan 27, 2020 at 22:19
• @jsotola i didn't understand what you meant by replace the space with servos in XY... Could you please elaborate? Jan 29, 2020 at 3:21
• @morbo agreed. So what would be the degrees of freedom of each section? Jan 29, 2020 at 3:22