Development of a serial-link structural robot supported by wire cable drive actuators: a basic analysis of two-links robot with a wire cable

Author

Kino, Hitoshi ; Setoguchi, Takahumi

Author_Institution

Dept. of Intelligent Mechanical Eng., Fukuoka Inst. of Technol., Japan

Volume

1

fYear

2003

fDate

27-31 Oct. 2003

Firstpage

854

Abstract

A new type of robot system supported by wire cable drive actuators is proposed in order to convey heavy load, or to lighten the mass and inertia of the system. This system has a serial-link robot and wire drive actuators. The robot and the wire drive actuators are connected by wire cables. In this paper, a two-links robot with a wire cable is investigated as the first report. In this system, both joint torque and wire tension must cooperate together, so a control scheme in the task oriented coordinates for the robot is also proposed. The motion stability is analyzed by using a Lyapunov function. Finally the usefulness of the proposed system is demonstrated through some simulation results.

Keywords

Lyapunov methods; actuators; manipulators; stability; torque; Lyapunov function; joint torque; motion stability analysis; robot manipulator; serial-link robot; serial-link structural robot; two-link robot; wire cable drive actuators; wire cables; wire tension; Humans; Intelligent actuators; Intelligent robots; Mechanical cables; Medical robotics; Orbital robotics; Parallel robots; Robot kinematics; Service robots; Wire;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on

Print_ISBN

0-7803-7860-1

Type

conf

DOI

10.1109/IROS.2003.1250736

Filename

1250736