Abstract
Recently, healthcare for elderly people is a big problem in certain countries. As the candidate to solve the problem, robots have been taking attention. The robots, which work in the nursing care field have to have multiple-degrees of freedom (DOF) to achieve variety of tasks. At the same time, the robots have to be small to work in limited space like human living environments. To achieve the goal, a new rotary actuator, which is small and output enough torque for operation is needed. Then a tendon-driven rotary actuator with polyethylene (PE) line was proposed in our previous study. However, the deflection of the PE line was occurred and the performance was deteriorated due to it during control. In this paper, new control systems for the tendon-driven rotary actuator with the PE line are proposed. The tension of the PE line is controlled in common mode and the rotation angle is controlled in differential mode with modal transformation. Moreover, the tension and the torque are also controlled with modal transformation. With the proposed control systems, the tension of the PE line is controlled in the intended value and the PE line is stretched tightly during the rotation angle control and the force control. The validity of the proposed tension control systems are evaluated through experiments.
| Original language | English |
|---|---|
| Title of host publication | IEEE International Symposium on Industrial Electronics |
| Pages | 1931-1936 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2010 |
| Event | 2010 IEEE International Symposium on Industrial Electronics, ISIE 2010 - Bari, Italy Duration: 2010 Jul 4 → 2010 Jul 7 |
Other
| Other | 2010 IEEE International Symposium on Industrial Electronics, ISIE 2010 |
|---|---|
| Country | Italy |
| City | Bari |
| Period | 10/7/4 → 10/7/7 |
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ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Control and Systems Engineering
Cite this
Realization of wire tension control for tendon-driven rotary actuator with a PE line. / Suzuki, Yusuke; Ohnishi, Kouhei.
IEEE International Symposium on Industrial Electronics. 2010. p. 1931-1936 5637526.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Realization of wire tension control for tendon-driven rotary actuator with a PE line
AU - Suzuki, Yusuke
AU - Ohnishi, Kouhei
PY - 2010
Y1 - 2010
N2 - Recently, healthcare for elderly people is a big problem in certain countries. As the candidate to solve the problem, robots have been taking attention. The robots, which work in the nursing care field have to have multiple-degrees of freedom (DOF) to achieve variety of tasks. At the same time, the robots have to be small to work in limited space like human living environments. To achieve the goal, a new rotary actuator, which is small and output enough torque for operation is needed. Then a tendon-driven rotary actuator with polyethylene (PE) line was proposed in our previous study. However, the deflection of the PE line was occurred and the performance was deteriorated due to it during control. In this paper, new control systems for the tendon-driven rotary actuator with the PE line are proposed. The tension of the PE line is controlled in common mode and the rotation angle is controlled in differential mode with modal transformation. Moreover, the tension and the torque are also controlled with modal transformation. With the proposed control systems, the tension of the PE line is controlled in the intended value and the PE line is stretched tightly during the rotation angle control and the force control. The validity of the proposed tension control systems are evaluated through experiments.
AB - Recently, healthcare for elderly people is a big problem in certain countries. As the candidate to solve the problem, robots have been taking attention. The robots, which work in the nursing care field have to have multiple-degrees of freedom (DOF) to achieve variety of tasks. At the same time, the robots have to be small to work in limited space like human living environments. To achieve the goal, a new rotary actuator, which is small and output enough torque for operation is needed. Then a tendon-driven rotary actuator with polyethylene (PE) line was proposed in our previous study. However, the deflection of the PE line was occurred and the performance was deteriorated due to it during control. In this paper, new control systems for the tendon-driven rotary actuator with the PE line are proposed. The tension of the PE line is controlled in common mode and the rotation angle is controlled in differential mode with modal transformation. Moreover, the tension and the torque are also controlled with modal transformation. With the proposed control systems, the tension of the PE line is controlled in the intended value and the PE line is stretched tightly during the rotation angle control and the force control. The validity of the proposed tension control systems are evaluated through experiments.
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U2 - 10.1109/ISIE.2010.5637526
DO - 10.1109/ISIE.2010.5637526
M3 - Conference contribution
AN - SCOPUS:78650320521
SN - 9781424463916
SP - 1931
EP - 1936
BT - IEEE International Symposium on Industrial Electronics
ER -