Model based control of robot with free joints driven by wires

Kazuyuki Gotoh, Akira Shimada

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

1 Citation (Scopus)

Abstract

This paper introduces a model based control of a robot with free joints driven by wires. The robot system is a small serial-link robot. It comprises tubes with small diameters and two pairs of wires. The tubes are used as links and the wires, which pass through the other links, are connected to the interior of the terminal link. The system is driven by the electrical motors via the tension in the wires. Then we have to pay attention to the principle that the each joint torque is generated by the tension. To perform it, we have to derive the mathematical model for the system. Furthermore,the mathematical model is evaluated whether the model can be applied well to controller design by comparison between the simulations and the experiments. The control laws used in the simulation and the experiment are designed to regulate the sum of all joint angles.

Original languageEnglish
Title of host publicationProceedings of SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
Pages3070-3075
Number of pages6
DOIs
Publication statusPublished - 2008 Dec 1
EventSICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology - Tokyo, Japan
Duration: 2008 Aug 202008 Aug 22

Publication series

NameProceedings of the SICE Annual Conference

Conference

ConferenceSICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
CountryJapan
CityTokyo
Period08/8/2008/8/22

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Keywords

  • Control
  • Free joints
  • Mathematical model
  • Wires

ASJC Scopus subject areas

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

Cite this

Gotoh, K., & Shimada, A. (2008). Model based control of robot with free joints driven by wires. In Proceedings of SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology (pp. 3070-3075). [4655191] (Proceedings of the SICE Annual Conference). https://doi.org/10.1109/SICE.2008.4655191