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 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

Linear Motor
Linear motors
Cable
Cables
Tendons
Redundant System
Controller
Controllers
Null Space
Robot
Degree of freedom
Robots

ASJC Scopus subject areas

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

Cite this

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

Application of tension control into linear motor-actuated cable differential-driven joint. / Kawase, Tomoko; Shimamoto, Keita; Tanida, Kazuki; Ohnishi, Kouhei.

International Workshop on Advanced Motion Control, AMC. 2012. 6197050.

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

Kawase, T, Shimamoto, K, Tanida, K & Ohnishi, K 2012, Application of tension control into linear motor-actuated cable differential-driven joint. in International Workshop on Advanced Motion Control, AMC., 6197050, 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012, Sarajevo, Bosnia and Herzegovina, 12/3/25. https://doi.org/10.1109/AMC.2012.6197050
Kawase T, Shimamoto K, Tanida K, Ohnishi K. Application of tension control into linear motor-actuated cable differential-driven joint. In International Workshop on Advanced Motion Control, AMC. 2012. 6197050 https://doi.org/10.1109/AMC.2012.6197050
Kawase, Tomoko ; Shimamoto, Keita ; Tanida, Kazuki ; Ohnishi, Kouhei. / Application of tension control into linear motor-actuated cable differential-driven joint. International Workshop on Advanced Motion Control, AMC. 2012.
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