TY - GEN
T1 - Motion control for 2-DOF tendon-driven spherical joint mechanisms
AU - Shimamoto, Keita
AU - Ohnishi, Kouhei
PY - 2012/12/1
Y1 - 2012/12/1
N2 - This research treats a tendon-driven spherical joint mechanism. At most, tendon-driven spherical joint mechanisms have three rotational degrees of freedom in one joint. Moreover, the mechanisms are lightweight and simple. As a result, the mechanisms are suited for transmission of force sensation by bilateral control. In conventional researches about the mechanisms, transmission of force sensation was difficult. In this research, tension control, position control, force control, and bilateral control is proposed for spherical joint mechanisms. The proposed control utilizes projected force on an imaginary plane which touches the sphere. In addition, a spherical joint mechanism with three linear motors is developed. The mechanism has two rotational degrees of freedom achieved by three tension-controlled strings. To simplify the mechanism, sensors are not attached to the spherical joint. Only encoders attached to linear motors are used as sensors. Rotation angles of the sphere are estimated by position responses of linear motors. Results of experiments shows that force sensation was transmitted without strings slacking.
AB - This research treats a tendon-driven spherical joint mechanism. At most, tendon-driven spherical joint mechanisms have three rotational degrees of freedom in one joint. Moreover, the mechanisms are lightweight and simple. As a result, the mechanisms are suited for transmission of force sensation by bilateral control. In conventional researches about the mechanisms, transmission of force sensation was difficult. In this research, tension control, position control, force control, and bilateral control is proposed for spherical joint mechanisms. The proposed control utilizes projected force on an imaginary plane which touches the sphere. In addition, a spherical joint mechanism with three linear motors is developed. The mechanism has two rotational degrees of freedom achieved by three tension-controlled strings. To simplify the mechanism, sensors are not attached to the spherical joint. Only encoders attached to linear motors are used as sensors. Rotation angles of the sphere are estimated by position responses of linear motors. Results of experiments shows that force sensation was transmitted without strings slacking.
UR - http://www.scopus.com/inward/record.url?scp=84872956191&partnerID=8YFLogxK
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U2 - 10.1109/IECON.2012.6389145
DO - 10.1109/IECON.2012.6389145
M3 - Conference contribution
AN - SCOPUS:84872956191
SN - 9781467324212
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 2731
EP - 2736
BT - Proceedings, IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society
T2 - 38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012
Y2 - 25 October 2012 through 28 October 2012
ER -