Application of tension control into linear motor-actuated cable differential-driven joint

Author

Kawase, Tomoko ; Shimamoto, Keita ; Tanida, Kazuki ; Ohnishi, Kouhei

Author_Institution

Grad. Sch. of Sci. & Technol., Keio Univ., Yokohama, Japan

fYear

2012

fDate

25-27 March 2012

Firstpage

1

Lastpage

6

Abstract

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.

Keywords

cables (mechanical); linear motors; medical robotics; redundancy; surgery; cable differential mechanism; controller design; downsize robots; linear motor-actuated cable differential-driven joint; null space; redundant system; stereotypical tension control; tendon-driven systems; two-degrees of freedom mechanism; Force; Force control; Joints; Position control; Pulleys; Robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Motion Control (AMC), 2012 12th IEEE International Workshop on

Conference_Location

Sarajevo

Print_ISBN

978-1-4577-1072-8

Electronic_ISBN

978-1-4577-1071-1

Type

conf

DOI

10.1109/AMC.2012.6197050

Filename

6197050