A method of joint torque control for a tendon-driven system

Uichiro Nishio, Takahiro Nozaki, Kouhei Ohnishi

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

It is hoped that robots are utilized in environments where human lives. Robots should work safely and perform complicated tasks. For safety, precise force control and lightweight mechanism are important because robots contact with human. In order to perform complicated tasks, multi-degrees-of-freedom system is needed. Tendon-driven system is able to achieve precise motion control and complicated tasks. In this system, wires are utilized as force transmission. Therefore, the system can achieve lightweight robot and can generate large joint torque. However, each joint torque interferes mutually because the tendons are attached to each link. Tendon tension must be kept over zero because the tendons can only generate traction force. In this paper, an inverse matrix of transposed Jacobian matrix with tension control was proposed in order to achieve tension control and torque control. This inverse matrix contains two conditions. One is the condition of joint torque control. The other is the condition that the minimum value of tendon tension is kept zero. In addition, the minimum value of tendon tension can be easily changed by bias force. Simulation results and experimental results show the validity of the proposed method.

本文言語English
ホスト出版物のタイトルAbstracts - 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
DOI
出版ステータスPublished - 2012
イベント2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012 - Sarajevo, Bosnia and Herzegovina
継続期間: 2012 3月 252012 3月 27

出版物シリーズ

名前International Workshop on Advanced Motion Control, AMC

Other

Other2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
国/地域Bosnia and Herzegovina
CitySarajevo
Period12/3/2512/3/27

ASJC Scopus subject areas

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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