Application of tension control into linear motor-actuated cable differential-driven joint

Application of tension control into linear motor-actuated cable differential-driven joint

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 join...

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Bibliographic Details
Published in:2012 12th IEEE International Workshop on Advanced Motion Control (AMC) pp. 1 - 6
Main Authors: Kawase, T., Shimamoto, K., Tanida, K., Ohnishi, K.
Format: Conference Proceeding
Language:English
Published: IEEE 01-03-2012
Subjects:
Force
Force control
Joints
Position control
Pulleys
Robots
Online Access:Get full text
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Summary: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.
ISBN:9781457710728
1457710722
ISSN:1943-6572
1943-6580
DOI:10.1109/AMC.2012.6197050