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Paper ThDT15.2

Viau, Joel (Université de Sherbrooke), Chouinard, Patrick (Université de Sherbrooke), Jean-Philippe, Lucking-Bigué (Université de Sherbrooke), Julio, Guifré (Université de Sherbrooke), Michaud, Francois (Universite de Sherbrooke), Shimoda, Shingo (RIKEN), Plante, Jean-Sebastien (Université de Sherbrooke)

Projected PID Controller for Tendon-Driven Manipulators Actuated by Magneto-Rheological Clutches

Scheduled for presentation during the Regular session "Tendon/Wire Mechanisms" (ThDT15), Thursday, October 1, 2015, 14:15−14:30, Saal A1

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sept 28 - Oct 03, 2015, Congress Center Hamburg, Hamburg, Germany

This information is tentative and subject to change. Compiled on July 19, 2019

Keywords Tendon/Wire Mechanisms, Motion Control

Abstract

Tendon-Driven Manipulators (TDM) have been used in various applications requiring low inertia robots having multiple degrees-of-freedom (DOF) and redundancy. TDMs are generally actuated by gear electric motors placed at the base of the robot, and consequently require complex cable tension feedback from force sensors or dynamic modelling to maintain cables under tension. This paper presents a high performance TDM actuated by magneto-rheological clutches along with a specialized motion control algorithm, termed Projected PID, that requires no tension feedback. A 2-DOF proof-of-concept TDM powered by magneto-rheological clutches is used to demonstrate overall controller performance, and a reconfigurable 2-DOF TDM powered by direct-drive electric motors is used to demonstrate the controller's ability to compensate for configuration variations and actuator failure. Experimental results also demonstrate the ability of Projected PID to control magneto-rheological cable-driven TDMs with high accuracy.

 

 

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