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 publicationProceedings of the SICE Annual Conference
Pages2684-2685
Number of pages2
Publication statusPublished - 2011
Event50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo
Duration: 2011 Sep 132011 Sep 18

Other

Other50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011
CityTokyo
Period11/9/1311/9/18

Fingerprint

Endoscopy
Tendons
Medical applications
Motion control
Industrial applications
Controllers
Computer simulation

Keywords

  • control
  • Tendon
  • tension observer
  • wire-Driven

ASJC Scopus subject areas

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

Cite this

Shimada, A., & Maruta, A. (2011). A controller design on tendon-driven mechanisms. In Proceedings of the SICE Annual Conference (pp. 2684-2685). [6060433]

A controller design on tendon-driven mechanisms. / Shimada, Akira; Maruta, Atsushi.

Proceedings of the SICE Annual Conference. 2011. p. 2684-2685 6060433.

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

Shimada, A & Maruta, A 2011, A controller design on tendon-driven mechanisms. in Proceedings of the SICE Annual Conference., 6060433, pp. 2684-2685, 50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011, Tokyo, 11/9/13.
Shimada A, Maruta A. A controller design on tendon-driven mechanisms. In Proceedings of the SICE Annual Conference. 2011. p. 2684-2685. 6060433
Shimada, Akira ; Maruta, Atsushi. / A controller design on tendon-driven mechanisms. Proceedings of the SICE Annual Conference. 2011. pp. 2684-2685
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