2A1-G10 形状情報を用いた能動索状体の運動制御(フレキシブルロボット・メカニズム)  [in Japanese] 2A1-G10 Motion Control of Active Flexible Cable Using Shape Information  [in Japanese]

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Abstract

We have proposed an active flexible cable driven by a ciliary vibration mechanism. The active cable could enter a narrow space. Motion control, however, was difficult because a curved cable cannot move straightly due to force direction difference. This paper proposes a motion control method of the active cable using shape information. We made a test model using Flexible Sensor Tube. Frictional driving force and side slipping friction were modeled. We compared between kinetics simulations and real motions. We proposed a motion control method based on cable shape parameters focused on straight elements. Simulation and experiment results showed the effectiveness of the method.

Journal

  • The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2008(0), _2A1-G10_1-_2A1-G10_4, 2008

    The Japan Society of Mechanical Engineers

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