TY - GEN
T1 - Simulation analysis on friction compensation of a double tendon-sheath actuation system
AU - Jung, Yeongtae
AU - Bae, Joonbum
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/10/21
Y1 - 2016/10/21
N2 - A tendon-sheath system has been researched for human-robot interaction systems because of its simple and light tendon routing mechanism. Since the tendons contact with the inner surface of sheaths in a tendon-sheath system, many undesirable phenomena appear due to the friction between them. Force transmission models and feedforward friction compensation methods have been developed for precise force transmission; however, those methods are not applicable with varying sheath curvatures. In this paper, a double-tendon sheath actuation system with a sheath routing method that enables feedforward torque control in a varying sheath curvatures is introduced. A feedforward friction compensation law was developed by analyzing the system, and was verified by a simulation.
AB - A tendon-sheath system has been researched for human-robot interaction systems because of its simple and light tendon routing mechanism. Since the tendons contact with the inner surface of sheaths in a tendon-sheath system, many undesirable phenomena appear due to the friction between them. Force transmission models and feedforward friction compensation methods have been developed for precise force transmission; however, those methods are not applicable with varying sheath curvatures. In this paper, a double-tendon sheath actuation system with a sheath routing method that enables feedforward torque control in a varying sheath curvatures is introduced. A feedforward friction compensation law was developed by analyzing the system, and was verified by a simulation.
KW - Bowden cable
KW - Force control
KW - Friction compensation
KW - Tendon-sheath actuation system
UR - https://www.scopus.com/pages/publications/85000428218
U2 - 10.1109/URAI.2016.7625766
DO - 10.1109/URAI.2016.7625766
M3 - Conference paper
AN - SCOPUS:85000428218
T3 - 2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016
SP - 510
EP - 514
BT - 2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016
Y2 - 19 August 2016 through 22 August 2016
ER -