A controller design on tendon-driven mechanisms

Akira Shimada, Atsushi Maruta

研究成果: Conference contribution

1 被引用数 (Scopus)


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.

ホスト出版物のタイトルSICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts
出版社Society of Instrument and Control Engineers (SICE)
出版ステータスPublished - 2011 1 1
イベント50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo, Japan
継続期間: 2011 9 132011 9 18


名前Proceedings of the SICE Annual Conference


Conference50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011

ASJC Scopus subject areas

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

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