An analysis on two-joint tendon driven hybrid control systems

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

1 Citation (Scopus)

Abstract

The aim of this research is to establish a basic control technique related to endoscopes for medical or general industrial uses. Shimada and Gotoh had presented the basic control technique for the system but the result was not sufficient because the motion of the system was not always smooth. For analize the cause, we utilize a passive two-joint mechanical system driven by wires as a prototype model because the problem should be simplified. Then the mathematical model, consdering the wire tensions precisely and the discretization at the angle limits of the joints, is re-derived and the corresponding hybrid controller is designed. Finally, simulation results are shown for the evaluation of validity of the analysis.

Original languageEnglish
Title of host publicationProceedings of the SICE Annual Conference
Pages529-530
Number of pages2
Publication statusPublished - 2010
EventSICE Annual Conference 2010, SICE 2010 - Taipei
Duration: 2010 Aug 182010 Aug 21

Other

OtherSICE Annual Conference 2010, SICE 2010
CityTaipei
Period10/8/1810/8/21

Fingerprint

Tendons
Wire
Control systems
Endoscopy
Mathematical models
Controllers

Keywords

  • Hyblid control
  • Tendon
  • Wire driven

ASJC Scopus subject areas

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

Cite this

Shimada, A., Maruta, A., & Uchimura, Y. (2010). An analysis on two-joint tendon driven hybrid control systems. In Proceedings of the SICE Annual Conference (pp. 529-530). [5603204]

An analysis on two-joint tendon driven hybrid control systems. / Shimada, Akira; Maruta, Atsushi; Uchimura, Yutaka.

Proceedings of the SICE Annual Conference. 2010. p. 529-530 5603204.

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

Shimada, A, Maruta, A & Uchimura, Y 2010, An analysis on two-joint tendon driven hybrid control systems. in Proceedings of the SICE Annual Conference., 5603204, pp. 529-530, SICE Annual Conference 2010, SICE 2010, Taipei, 10/8/18.
Shimada A, Maruta A, Uchimura Y. An analysis on two-joint tendon driven hybrid control systems. In Proceedings of the SICE Annual Conference. 2010. p. 529-530. 5603204
Shimada, Akira ; Maruta, Atsushi ; Uchimura, Yutaka. / An analysis on two-joint tendon driven hybrid control systems. Proceedings of the SICE Annual Conference. 2010. pp. 529-530
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