Title :
Control of wire driven multi-link robot
Author :
Mizuguti, Tomoyasu ; Fusejima, Nobuhiro ; Ohyama, Takashi ; Kondo, Ryon ; Ma, Shugen
Author_Institution :
Graduate Sch. of Sci. & Technol., Ibaraki Univ., Japan
Abstract :
The paper is concerned with the control of a multi-link robot driven by elastic wires. We have designed a servo controller to control the link angles and wire tensions to avoid the wire to loosen. Various simulations and experiments are given to show the effectiveness of the control.
Keywords :
robots; servomechanisms; elastic wires; link angles; servo controller; wire driven multi-link robot control; wire tensions; Wire;
Conference_Titel :
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN :
0-7803-7631-5
DOI :
10.1109/SICE.2002.1195627
