Achievement of precise force control for a tendon-driven rotary actuator with thrust wires and a PE line

Yusuke Suzuki, Keisuke Sugawara, Kouhei Ohnishi

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

2 Citations (Scopus)

Abstract

Robots are taken attention as one of key solutions for nursing care field along with aging of population. In the nursing care field, the robots have to work in the limited space and contact with humans directly. Therefore miniaturization and precise force control are two important issues for nursing care robots. Then a tendon-driven rotary actuator with thrust wires and a polyethylene (PE) line was developed, and wire tension control system has been researched to solve the two important issues in our previous study. However, the rotary actuator did not show good force control performance due to the mechanical force loss in the thrust wires. In this paper, a force loss rate is identified, and compensation method for the tendon-driven rotary actuator is proposed with wire tension control in order to achieve precise force control. Compensation experiments are implemented to confirm the validity of the proposed method.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Pages1430-1435
Number of pages6
DOIs
Publication statusPublished - 2010
Event36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010 - Glendale, AZ, United States
Duration: 2010 Nov 72010 Nov 10

Other

Other36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010
CountryUnited States
CityGlendale, AZ
Period10/11/710/11/10

Fingerprint

Tendons
Force control
Nursing
Polyethylenes
Actuators
Wire
Robots
Aging of materials
Control systems
Experiments
Compensation and Redress

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Suzuki, Y., Sugawara, K., & Ohnishi, K. (2010). Achievement of precise force control for a tendon-driven rotary actuator with thrust wires and a PE line. In IECON Proceedings (Industrial Electronics Conference) (pp. 1430-1435). [5675474] https://doi.org/10.1109/IECON.2010.5675474

Achievement of precise force control for a tendon-driven rotary actuator with thrust wires and a PE line. / Suzuki, Yusuke; Sugawara, Keisuke; Ohnishi, Kouhei.

IECON Proceedings (Industrial Electronics Conference). 2010. p. 1430-1435 5675474.

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

Suzuki, Y, Sugawara, K & Ohnishi, K 2010, Achievement of precise force control for a tendon-driven rotary actuator with thrust wires and a PE line. in IECON Proceedings (Industrial Electronics Conference)., 5675474, pp. 1430-1435, 36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010, Glendale, AZ, United States, 10/11/7. https://doi.org/10.1109/IECON.2010.5675474
Suzuki Y, Sugawara K, Ohnishi K. Achievement of precise force control for a tendon-driven rotary actuator with thrust wires and a PE line. In IECON Proceedings (Industrial Electronics Conference). 2010. p. 1430-1435. 5675474 https://doi.org/10.1109/IECON.2010.5675474
Suzuki, Yusuke ; Sugawara, Keisuke ; Ohnishi, Kouhei. / Achievement of precise force control for a tendon-driven rotary actuator with thrust wires and a PE line. IECON Proceedings (Industrial Electronics Conference). 2010. pp. 1430-1435
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