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JRM Vol.30 No.5 pp. 763-771
doi: 10.20965/jrm.2018.p0763
(2018)

Paper:

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Error Analysis by Kinetics for Parallel-Wire Driven System Using Approximated Inverse Kinematics

Hitoshi Kino*, Takumi Imamura*, and Norimitsu Sakagami**

*Department of Intelligent Mechanical Engineering, Fukuoka Institute of Technology
3-30-1 Wajirohigashi, Higashi-ku, Fukuoka-shi, Fukuoka 811-0295, Japan

**Department of Navigation and Ocean Engineering, Tokai University
3-20-1 Orido, Shimizu-ku, Shizuoka-shi, Shizuoka 424-0902, Japan

Received:
February 16, 2018
Accepted:
June 27, 2018
Published:
October 20, 2018
Creative Commons License
Keywords:
kinematics, error, position control, approximation
Abstract

Parallel-wire driven systems, which use light flexible wires in place of rigid links, control the position of a target object by controlling their wire lengths. In the kinematics for such a parallel-wire driven system, when the relationship between the end-effector position and the wire lengths is investigated, a fixed point for the wire-contacting point on the winding reel in the actuator (or guide pulley) is often approximated to simplify the calculation. The approximated kinematics however could lead to a number of positioning errors in the positioning control. This study proposes a framework for evaluating these positioning control errors by using approximated inverse kinematics. In view of the system dynamics, this study analyzes the positioning control errors for the control method in the wire-length coordinates. We discuss a case study on a two degrees-of-freedom planar system using three wires.

Case study using two-DOF planar system with three wires

Case study using two-DOF planar system with three wires

Cite this article as:
H. Kino, T. Imamura, and N. Sakagami, “Error Analysis by Kinetics for Parallel-Wire Driven System Using Approximated Inverse Kinematics,” J. Robot. Mechatron., Vol.30 No.5, pp. 763-771, 2018.
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