DocumentCode
3408956
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
Volume
5
fYear
2002
fDate
5-7 Aug. 2002
Firstpage
3216
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;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN
0-7803-7631-5
Type
conf
DOI
10.1109/SICE.2002.1195627
Filename
1195627
Link To Document