TY - GEN
T1 - Application of tension control into linear motor-actuated cable differential-driven joint
AU - Kawase, Tomoko
AU - Shimamoto, Keita
AU - Tanida, Kazuki
AU - Ohnishi, Kouhei
PY - 2012/6/4
Y1 - 2012/6/4
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84861594831&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84861594831&partnerID=8YFLogxK
U2 - 10.1109/AMC.2012.6197050
DO - 10.1109/AMC.2012.6197050
M3 - Conference contribution
AN - SCOPUS:84861594831
SN - 9781457710711
T3 - International Workshop on Advanced Motion Control, AMC
BT - Abstracts - 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
T2 - 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
Y2 - 25 March 2012 through 27 March 2012
ER -