2A1-H02 Decoupling control based on kinematical mutual matrix computation for a light weight wire-driven arm

Abstract

We have developed a light weight wire-driven arm in order to reduce the impact with persons. We would like to use the arm for manipulation in our daily life, such as handling dishes and bringing a cup of coffee. In order to lighten the arm, we equipped all the electric motors into the body and adopted wire-driven mechanism. However this arm has coupled mechanisms, thus, in this paper we propose a controller based on a kinematical mutual matrix computation for joint decoupling control. We show that motor torque compensation computed from the matrix changing along with the variation of arm postures contributes to improve the response time of the joint angle position control.