Study on Model-Based Control of the Cable-Conduit Drive System
Shigeki Sugano, Osamu Matsumoto* and Shin-yo Muto**
Department of Mechanical Engineering, Waseda University
3-4-1 Ohkubo, Shinjuku-ku, Tokyo 169, Japan
*Robotics Department of Mechanical Engineering Laboratory of MITI
1-2 Namiki, Tsukuba, Ibaraki 305, Japan
**NIT Human Interface Laboratories Autonomous Robot Systems Laboratory
3-9-11 Midori-cho, Musashino, Tokyo 180, Japan
The cable-conduit system, one of the remote drive system, is advantageous for integrating multiple-degrees of freedom. However, from the perspective of accurate motion control, a difference is caused between the actuator motion and the joint motion because a considerable friction between the cable and the conduit which varies according to the change in cable route. Therefore, the behaviors of cable must be clarified in order to realize highly accurate motion control. The objective of this study is to clarify the relationship between the actuator motion and the joint motion and to establish the motion control technique of the cable-conduit system. The present paper discusses the model-based control of the cable system. First, we modelled the cable-conduit system using the bend angles and the number of roots and crests of cable. Next, for precisely expressing the behaviors during start-up, we formulated the relationship between the actuator torque and the joint motion in consideration of the static friction and the kinetic friction. In addition, we verified the effectiveness of this formula through an experiment. As a result of the verification experiment, the motion computed from the formula strictly coincided with the actual behavior, thus displaying the effectiveness of the model.
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