An analysis on two-joint tendon driven hybrid control systems

研究成果: Conference contribution

1 引用 (Scopus)

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
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 182010 8 21

Other

OtherSICE Annual Conference 2010, SICE 2010
Taipei
期間10/8/1810/8/21

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Tendons
Wire
Control systems
Endoscopy
Mathematical models
Controllers

ASJC Scopus subject areas

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

これを引用

Shimada, A., Maruta, A., & Uchimura, Y. (2010). An analysis on two-joint tendon driven hybrid control systems. : 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.

研究成果: Conference contribution

Shimada, A, Maruta, A & Uchimura, Y 2010, An analysis on two-joint tendon driven hybrid control systems. : 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. : 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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