冗長腱を持つ腱駆動ロボット機構の剛性調節 On Stiffness Control of Tendon-Driven Robotic Mechanism with Redundant Tendons

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Tendon-driven mechanisms have been used mainly in articulated-finger hands because of the small size and the light weight. Recently, for the necessity of forcecontrolled robot arms, several researchers developed tendon driven robot arms. In the case, since robot arms are much heavier and longer than robot hand fingers, tendons increase in the length significantly and also must run through very complicated paths. Therefore usual N+1 type or 2N type tendon-driven mechanisms are not enough to move robot arms and a number of redundant tendons are used to divide the total load into each of tendons and reduce the individual burden. For example, due to the gravity force, if the load in the clockwise direction is different significantly from the one in the counter-clockwise direction, we can use different number of tendons for each direction, respectively. There are additional advantages in a redundant tendon mechanism. For example, we can move the robot arm with the other tendons when some tendons have been broken and we can also adjust the mechanical joint impedance using non-linear elasticity of tendons.<BR>In this paper, several basic issues on the joint compliance adjustability for a robot arm controlled with redundant tendons are discussed. Namely, local maximum sets of stiffness elements which are adjustable simultaneously, and conditions under which the joint impedance can be adjusted using non-linear compliance tendons are discussed.

収録刊行物

  • 日本ロボット学会誌  

    日本ロボット学会誌 17(4), 493-502, 1999-05-15 

    The Robotics Society of Japan

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各種コード

  • NII論文ID(NAID)
    10002866171
  • NII書誌ID(NCID)
    AN00141189
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    02891824
  • NDL 記事登録ID
    4728923
  • NDL 雑誌分類
    ZN11(科学技術--機械工学・工業)
  • NDL 請求記号
    Z16-1325
  • データ提供元
    CJP書誌  CJP引用  NDL  J-STAGE 
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