Control of Wire Driven Multi-Link Robot

Tomoyasu Mizuguti; Nobuhiro Fusejima; Takashi Ohyama; Ryou Kondo; Shugen Ma

doi:10.11499/sicep.2002.0.701.0

SICE Annual Conference 2002

DOI https://doi.org/10.11499/sicep.2002.0.701.0

会議情報

主催: The Society of Instrument and Control Engineers

共催: IEEE/Industiral Electronic Society, IEEE/Robotics and Automation Society, IEEE/Control System Society

Control of Wire Driven Multi-Link Robot

Tomoyasu Mizuguti, Nobuhiro Fusejima, Takashi Ohyama, Ryou Kondo, Shugen Ma

著者情報

キーワード: Wire driven, Multi Link Robots

会議録・要旨集フリー

p. 701

詳細

抄録

This paper is concerned with the control of a multi link robot driven by elastic wires. We have designed a servo controller to control the link angles and wire tentions to avoid the wire to loosen. Various simulations and experiments are given to show the effectiveness of the control.

責任著者(Corresponding author)

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