DocumentCode :
716505
Title :
Design of tendon-driven mechanisms for fault tolerance from tendon-breaking by using centroid vectors
Author :
Ozawa, Ryuta ; Kobayashi, Hiroaki ; Hyodo, Kazuhito
Author_Institution :
Dept. of Robot., Ritsumeikan Univ., Kusatsu, Japan
fYear :
2015
fDate :
26-30 May 2015
Firstpage :
2736
Lastpage :
2741
Abstract :
Tendon-driven mechanisms (TDMs) are mechanisms driven by more tendons than joints. This tendon redundancy is often used for changing the hardware compliance. In contrast, in this paper, the redundancy is used for coping with unexpected tendon breaking. We analyze kinematics of a class of TDMs with asymmetrically spanned tendons and modify it to design a TDM that preserves the controllability even if at least one of the tendons is broken. We validate the proposed method to design several TDMs.
Keywords :
controllability; fault tolerant control; redundant manipulators; vectors; TDM; asymmetrically spanned tendons; centroid vectors; controllability; fault tolerance; hardware compliance; tendon redundancy; tendon-breaking; tendon-driven mechanisms; Controllability; Design methodology; Jacobian matrices; Joints; Safety; Tendons; Time division multiplexing;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2015 IEEE International Conference on
Conference_Location :
Seattle, WA
Type :
conf
DOI :
10.1109/ICRA.2015.7139570
Filename :
7139570
Link To Document :
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