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JRM Vol.36 No.1 pp. 30-38
doi: 10.20965/jrm.2024.p0030
(2024)

Paper:

Dynamics-Based Control and Path Planning Method for Long-Reach Coupled Tendon-Driven Manipulator

Atsushi Takata* ORCID Icon and Gen Endo** ORCID Icon

*Tokyo University of Agriculture and Technology
2-24-16 Naka-cho, Koganei-shi, Tokyo 184-8588, Japan

**Tokyo Institute of Technology
2-12-1 Ookayama, Meguro-ku, Tokyo 152-8550, Japan

Received:
July 20, 2023
Accepted:
November 24, 2023
Published:
February 20, 2024
Keywords:
long-reach manipulator, tendon-drive, path planning
Abstract

The Fukushima power station in Japan was affected by a major earthquake and tsunami in March 2011, inspecting the primary containment vessel remains difficult due to high radioactivity. Long-reach robot arms are useful in inspecting such hazardous environments, and a coupled tendon-driven mechanism enables realizing a long, light-weight, and thin manipulator. However, high elastic elongation of tendons due to gravity may lead to unstable joint control. In this paper, we introduce dynamics-based control as a feasible strategy for a long-reach tendon-driven robotic arm. Additionally, a planning method to identify the joint angle path ensuring stability is proposed. Considering stability analysis, the potential due to the tendon elasticity and gravity is evaluated and used as an index of joint stability. The rapidly exploring random tree is used as the planning algorithm. The effectiveness of the proposed method was demonstrated through the successful manipulation of a 5-kg payload by a 10-m long robotic arm.

A planning method for joint angle path ensuring stability

A planning method for joint angle path ensuring stability

Cite this article as:
A. Takata and G. Endo, “Dynamics-Based Control and Path Planning Method for Long-Reach Coupled Tendon-Driven Manipulator,” J. Robot. Mechatron., Vol.36 No.1, pp. 30-38, 2024.
Data files:
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Last updated on Apr. 05, 2024