A controller design on tendon-driven mechanisms

Akira Shimada, Atsushi Maruta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper introduces a special designed multi-joint tendon-driven system. Typical examples of the usage of the system are endoscopes which are used in medical and industrial applications. We have studied such the systems so far, a prototype system based on visual servo control was introduced. However, the motion control performance of the system was not enough for practical use. Especially, the joint angles sometimes rotate randomly. To solve this problem, the more simplified mechanism as a new prototype is developed in order to investigate the event during motions but the only computer simulation has been performed. This paper introduces the real prototype mechanism and a simple experimental result to improve the investigation as the first step.

Original languageEnglish
Title of host publicationSICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts
PublisherSociety of Instrument and Control Engineers (SICE)
Pages2684-2685
Number of pages2
ISBN (Print)9784907764395
Publication statusPublished - 2011 Jan 1
Event50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo, Japan
Duration: 2011 Sep 132011 Sep 18

Publication series

NameProceedings of the SICE Annual Conference

Conference

Conference50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011
CountryJapan
CityTokyo
Period11/9/1311/9/18

Keywords

  • Tendon
  • control
  • tension observer
  • wire-Driven

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Shimada, A., & Maruta, A. (2011). A controller design on tendon-driven mechanisms. In SICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts (pp. 2684-2685). [6060433] (Proceedings of the SICE Annual Conference). Society of Instrument and Control Engineers (SICE).