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

Yusuke Suzuki, Keisuke Sugawara, Kouhei Ohnishi

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society
ページ1430-1435
ページ数6
DOI
出版ステータスPublished - 2010
外部発表はい
イベント36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010 - Glendale, AZ, United States
継続期間: 2010 11月 72010 11月 10

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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