An analysis on two-joint tendon driven hybrid control systems

研究成果: Conference contribution

1 被引用数 (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.

本文言語English
ホスト出版物のタイトルProceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers
出版社Society of Instrument and Control Engineers (SICE)
ページ529-530
ページ数2
ISBN(印刷版)9784907764364
出版ステータスPublished - 2010 1 1

出版物シリーズ

名前Proceedings of the SICE Annual Conference

ASJC Scopus subject areas

  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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