The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2019
Session ID : 1A1-S01
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Host: The Japan Society of Mechanical Engineers

Name : [in Japanese]

Date : June 05, 2019 - June 08, 2019

Robust Position Control Method for Wire Arrangement Error of Tendon-driven Robot
*Yuki MATSUTANI, Kenji TAHARA, Hitoshi KINO
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Keywords: Tendon-driven robot, Wire arrangement
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Abstract

This paper proposes a new position control method for a tendon-driven robot by combining an internal force feedforward control with a feedback control. The proposed method is able to accomplish a robust for wire arrangement error and high precision control.

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© 2019 The Japan Society of Mechanical Engineers
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