Model based control of robot with free joints driven by wires

Kazuyuki Gotoh, Akira Shimada

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

This paper introduces a model based control of a robot with free joints driven by wires. The robot system is a small serial-link robot. It comprises tubes with small diameters and two pairs of wires. The tubes are used as links and the wires, which pass through the other links, are connected to the interior of the terminal link. The system is driven by the electrical motors via the tension in the wires. Then we have to pay attention to the principle that the each joint torque is generated by the tension. To perform it, we have to derive the mathematical model for the system. Furthermore,the mathematical model is evaluated whether the model can be applied well to controller design by comparison between the simulations and the experiments. The control laws used in the simulation and the experiment are designed to regulate the sum of all joint angles.

本文言語English
ホスト出版物のタイトルProceedings of SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
ページ3070-3075
ページ数6
DOI
出版ステータスPublished - 2008
外部発表はい
イベントSICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology - Tokyo, Japan
継続期間: 2008 8月 202008 8月 22

出版物シリーズ

名前Proceedings of the SICE Annual Conference

Conference

ConferenceSICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
国/地域Japan
CityTokyo
Period08/8/2008/8/22

ASJC Scopus subject areas

  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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