ワイヤ干渉駆動型多関節マニピュレータの動的制御法

概要

論文の詳細を見る
Dynamic control approaches (decoupled algorithms) for a Coupled Tendon-Driven Manipulator Arm (or CT Arm) are presented in this paper, in which the dynamics of a manipulator arm also the dynamics of a tendon-driven system are considered for the case of high speed motion. The mechanism for the CT Arm is a special tendon traction transmission mechanism, in which a pair of terdons used to drive a joint are pulled from base actuators via pulleys mounted on the base-side joints. The mechanism can optimally utilize the coupled drive function of the tendon traction forces and thus enables the lightweight manipulator to exhibit enormous payload capability. Its properties will be elucidated by the proposed dynamic control approaches. Computer simulation was also executed in this study to verify the validity of the proposed control approaches.
1995-11-25