### 抄録

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.

元の言語 | English |
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ホスト出版物のタイトル | Proceedings of the SICE Annual Conference |

ページ | 529-530 |

ページ数 | 2 |

出版物ステータス | Published - 2010 |

イベント | SICE Annual Conference 2010, SICE 2010 - Taipei 継続期間: 2010 8 18 → 2010 8 21 |

### Other

Other | SICE Annual Conference 2010, SICE 2010 |
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市 | Taipei |

期間 | 10/8/18 → 10/8/21 |

### Fingerprint

### ASJC Scopus subject areas

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

### これを引用

*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.

研究成果: Conference contribution

*Proceedings of the SICE Annual Conference.*, 5603204, pp. 529-530, SICE Annual Conference 2010, SICE 2010, Taipei, 10/8/18.

}

TY - GEN

T1 - An analysis on two-joint tendon driven hybrid control systems

AU - Shimada, Akira

AU - Maruta, Atsushi

AU - Uchimura, Yutaka

PY - 2010

Y1 - 2010

N2 - 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.

AB - 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.

KW - Hyblid control

KW - Tendon

KW - Wire driven

UR - http://www.scopus.com/inward/record.url?scp=78649311740&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=78649311740&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:78649311740

SN - 9784907764364

SP - 529

EP - 530

BT - Proceedings of the SICE Annual Conference

ER -