Bilateral control method for tendon-driven mechanism considering wire elongation

Takahiro Nozaki, Takahiro Mizoguchi, Kouhei Ohnishi

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

1 Citation (Scopus)

Abstract

Tendon-driven rotary actuators are utilized in various robots because they are small and high output. However, if the tendon-driven rotary actuators are utilized in bilateral control system, there are two problems. The first problem is interference. Bilateral control systems with tendon-driven mechanisms require decoupling of angle tracking, torque feedback, and tension control on master side, and slave side. The second problem is elongation. The tendons are extended by applied force. Therefore, it is difficult to control the angle precisely. In this paper, a method to compensate the error caused by the tendon elongation for tendon-driven mechanisms is proposed. This compensation method is designed based on modal transformation. The validity of the proposed method is verified by an experiment. Elongation is reduced by the proposed method. In addition, angle tracking, torque feedback, and tension control on master side, and slave side are achieved independently. Experiments were conducted to confirm the validity of the proposed method. In this experiment, proposed method is applied to a bilateral control system.

Original languageEnglish
Title of host publicationProceedings, IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society
Pages2662-2667
Number of pages6
DOIs
Publication statusPublished - 2012 Dec 1
Event38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012 - Montreal, QC, Canada
Duration: 2012 Oct 252012 Oct 28

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012
CountryCanada
CityMontreal, QC
Period12/10/2512/10/28

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Nozaki, T., Mizoguchi, T., & Ohnishi, K. (2012). Bilateral control method for tendon-driven mechanism considering wire elongation. In Proceedings, IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society (pp. 2662-2667). [6389156] (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2012.6389156