Title :
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
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;
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
DOI :
10.1109/AMC.2012.6197050
