Position Accuracy of a Long-reach Coupled Tendon-driven Robot Arm "Super Dragon" in a Full-scale Exploration Test

Abstract

This paper describes an investigation of the position accuracy of a long-reach coupled tendon-driven robot arm. An operational test of the arm was conducted in a full-scale field. Tip positions estimated using joint angles were compared with the tip position measured by the laser scanner. As a result, the tip position error in the yaw bending posture was larger than that in the horizontal posture. The reason is that the torsional deformation was caused by gravity. In the future, we will conduct calibration of joint sensors and modeling of deformation error caused by gravity.