Model-based control of a novel planar tendon-driven joint having a soft rolling constraint on a plane

Ken Masuya, Kenji Tahara

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper proposes a planar tendon-driven joint with a soft cylinder contacting a rigid plane and its modelbased controller. In previous studies of planar tendon-driven joints with soft materials, those angles were only controlled despite the position displacement due to material deformation. Concurrently, position and angle displacements are addressed in the field of the robotic hand. Although some of the studies designed controllers using soft rolling contact models, their models cannot be applied in practical cases simply due to the effect of the property of the soft material. Even if it can be modeled, their feedback controllers also cannot be applied to the joint if the model is different from theirs. Although a controller design based on the obtained model is required, this realization is difficult because a constraint due to the soft rolling contact becomes a non-holonomic one. To resolve those problems, we set the soft rolling contact as a gray-box model and design the controller based on this modeled constraint. In the controller, the modeled constraint is used to generate a reference path. A soft rolling contact model is constructed through experiments, and then we validate the proposed controller by simulation using the modeled constraint.

Original languageEnglish
Title of host publication2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages132-137
Number of pages6
ISBN (Electronic)9781728167947
DOIs
Publication statusPublished - Jul 2020
Event2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020 - Boston, United States
Duration: Jul 6 2020Jul 9 2020

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume2020-July

Conference

Conference2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020
CountryUnited States
CityBoston
Period7/6/207/9/20

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

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