A method of joint torque control for a tendon-driven system

Uichiro Nishio, Takahiro Nozaki, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

It is hoped that robots are utilized in environments where human lives. Robots should work safely and perform complicated tasks. For safety, precise force control and lightweight mechanism are important because robots contact with human. In order to perform complicated tasks, multi-degrees-of-freedom system is needed. Tendon-driven system is able to achieve precise motion control and complicated tasks. In this system, wires are utilized as force transmission. Therefore, the system can achieve lightweight robot and can generate large joint torque. However, each joint torque interferes mutually because the tendons are attached to each link. Tendon tension must be kept over zero because the tendons can only generate traction force. In this paper, an inverse matrix of transposed Jacobian matrix with tension control was proposed in order to achieve tension control and torque control. This inverse matrix contains two conditions. One is the condition of joint torque control. The other is the condition that the minimum value of tendon tension is kept zero. In addition, the minimum value of tendon tension can be easily changed by bias force. Simulation results and experimental results show the validity of the proposed method.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
DOIs
Publication statusPublished - 2012
Event2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012 - Sarajevo, Bosnia and Herzegovina
Duration: 2012 Mar 252012 Mar 27

Other

Other2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
CountryBosnia and Herzegovina
CitySarajevo
Period12/3/2512/3/27

Fingerprint

Torque control
Tendons
Torque
Robot
Robots
Inverse matrix
Force Control
Motion Control
Jacobian matrix
Zero
Jacobian matrices
Force control
Motion control
Safety
Degree of freedom
Contact
Wire
Experimental Results
Simulation
Human

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Computer Science Applications
  • Modelling and Simulation

Cite this

Nishio, U., Nozaki, T., & Ohnishi, K. (2012). A method of joint torque control for a tendon-driven system. In International Workshop on Advanced Motion Control, AMC [6197107] https://doi.org/10.1109/AMC.2012.6197107

A method of joint torque control for a tendon-driven system. / Nishio, Uichiro; Nozaki, Takahiro; Ohnishi, Kouhei.

International Workshop on Advanced Motion Control, AMC. 2012. 6197107.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Nishio, U, Nozaki, T & Ohnishi, K 2012, A method of joint torque control for a tendon-driven system. in International Workshop on Advanced Motion Control, AMC., 6197107, 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012, Sarajevo, Bosnia and Herzegovina, 12/3/25. https://doi.org/10.1109/AMC.2012.6197107
Nishio U, Nozaki T, Ohnishi K. A method of joint torque control for a tendon-driven system. In International Workshop on Advanced Motion Control, AMC. 2012. 6197107 https://doi.org/10.1109/AMC.2012.6197107
Nishio, Uichiro ; Nozaki, Takahiro ; Ohnishi, Kouhei. / A method of joint torque control for a tendon-driven system. International Workshop on Advanced Motion Control, AMC. 2012.
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