Motion control of the robot finger driven by cable system. Finger system of the piano playing robot WABOT-2mkII

Shigeki Sugano, Shinyo Muto, Ichiro Kato

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

    1 Citation (Scopus)

    Abstract

    The WABOT-2mkII is an anthropomorphic robot that can execute actual piano playing work, a piece of information processing work, completely using its autonomous functions. Each hand has 16 degrees of freedom (DOF) in total. To realize the integration of multiple DOF, the cable-conduit drive system is introduced. This study has the purpose of clarifying the motion relationship between the actuator and the joint, establishing a cable system motion control method, and applying it to WABOT-2mkII system. In this paper, the mechanism of WABOT-2mkII, the representation of a cable system by models, and the observations of the control method are discussed.

    Original languageEnglish
    Title of host publicationComputers in Engineering 1990
    EditorsG.L. Kinzel, S.M. Rohde
    Place of PublicationBoston, MA, United States
    PublisherPubl by ASCE
    Pages573-578
    Number of pages6
    ISBN (Print)0791805158
    Publication statusPublished - 1990
    EventProceedings of the 1990 ASME International Computers in Engineering Conference and Exposition - Boston, MA, USA
    Duration: 1990 Aug 51990 Aug 9

    Other

    OtherProceedings of the 1990 ASME International Computers in Engineering Conference and Exposition
    CityBoston, MA, USA
    Period90/8/590/8/9

    Fingerprint

    Motion control
    Cables
    Robots
    Anthropomorphic robots
    Actuators

    ASJC Scopus subject areas

    • Engineering(all)

    Cite this

    Sugano, S., Muto, S., & Kato, I. (1990). Motion control of the robot finger driven by cable system. Finger system of the piano playing robot WABOT-2mkII. In G. L. Kinzel, & S. M. Rohde (Eds.), Computers in Engineering 1990 (pp. 573-578). Boston, MA, United States: Publ by ASCE.

    Motion control of the robot finger driven by cable system. Finger system of the piano playing robot WABOT-2mkII. / Sugano, Shigeki; Muto, Shinyo; Kato, Ichiro.

    Computers in Engineering 1990. ed. / G.L. Kinzel; S.M. Rohde. Boston, MA, United States : Publ by ASCE, 1990. p. 573-578.

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

    Sugano, S, Muto, S & Kato, I 1990, Motion control of the robot finger driven by cable system. Finger system of the piano playing robot WABOT-2mkII. in GL Kinzel & SM Rohde (eds), Computers in Engineering 1990. Publ by ASCE, Boston, MA, United States, pp. 573-578, Proceedings of the 1990 ASME International Computers in Engineering Conference and Exposition, Boston, MA, USA, 90/8/5.
    Sugano S, Muto S, Kato I. Motion control of the robot finger driven by cable system. Finger system of the piano playing robot WABOT-2mkII. In Kinzel GL, Rohde SM, editors, Computers in Engineering 1990. Boston, MA, United States: Publ by ASCE. 1990. p. 573-578
    Sugano, Shigeki ; Muto, Shinyo ; Kato, Ichiro. / Motion control of the robot finger driven by cable system. Finger system of the piano playing robot WABOT-2mkII. Computers in Engineering 1990. editor / G.L. Kinzel ; S.M. Rohde. Boston, MA, United States : Publ by ASCE, 1990. pp. 573-578
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