2A1-G10 Motion Control of Active Flexible Cable Using Shape Information

• Sawata Kazuna

  Tohoku Univ.

• Konyo Masashi

  Tohoku Univ.

• Saga Satoshi

  Tohoku Univ.

• Tadokoro Satoshi

  Tohoku Univ.

• Osuka Koichi

  Kobe Univ.

Bibliographic Information

Other Title

• 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)

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

Keywords

• Flexible Robot
• Active Scope CameraMotion Control

Details

• CRID: 1390282680910693120
• NII Article ID: 110008696355
• DOI: 10.1299/jsmermd.2008._2a1-g10_1
• ISSN: 24243124
• Web Site: https://www.jstage.jst.go.jp/article/jsmermd/2008/0/2008__2A1-G10_1/_pdf
• Text Lang: ja
• Data Source:
  • JaLC
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed