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

*この研究の対応する著者

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルComputers in Engineering 1990
編集者G.L. Kinzel, S.M. Rohde
出版社Publ by ASCE
ページ573-578
ページ数6
ISBN(印刷版)0791805158
出版ステータスPublished - 1990 12 1
イベントProceedings of the 1990 ASME International Computers in Engineering Conference and Exposition - Boston, MA, USA
継続期間: 1990 8 51990 8 9

出版物シリーズ

名前Computers in Engineering 1990

Other

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

ASJC Scopus subject areas

  • 工学(全般)

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