Application of tension control into linear motor-actuated cable differential-driven joint

Tomoko Kawase, Keita Shimamoto, Kazuki Tanida, Kouhei Ohnishi

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

2 Citations (Scopus)

Abstract

Tendon-driven systems are one of efficient methods to downsize robots. This paper discusses application of tension control into a joint using cable differential. Cable differential is mechanism which allows two-degrees of freedom (DOF) in one joint. Controllers for the cable differential-driven joint are proposed in the paper. The joint is actuated by four linear motors. The controllers are designed regarding the tendon-driven system as a redundant system. In this way, tension control is considered as a task in the null space. This makes implementation of tension control stereotypical.

Original languageEnglish
Title of host publicationAbstracts - 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
DOIs
Publication statusPublished - 2012 Jun 4
Event2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012 - Sarajevo, Bosnia and Herzegovina
Duration: 2012 Mar 252012 Mar 27

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Other

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

ASJC Scopus subject areas

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

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    Kawase, T., Shimamoto, K., Tanida, K., & Ohnishi, K. (2012). Application of tension control into linear motor-actuated cable differential-driven joint. In Abstracts - 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012 [6197050] (International Workshop on Advanced Motion Control, AMC). https://doi.org/10.1109/AMC.2012.6197050