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Minimum-time control of coupled tendon-driven manipulators

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Abstract:

Hyper-redundant manipulators have very large degrees of redundancy, thus possessing unconventional features such as the ability to enter a narrow space while avoiding obstacles. In this study, a time-optimal control scheme is proposed for a hyper-redundant manipulator that was realized by coupled tendon-driven mechanisms. In the mechanisms, a pair of tendons for driving a joint is pulled from base actuators via pulleys mounted on the base-side joints and the degrees of actuation redundancy exist. The time-optimal trajectory planning problem is solved by using the phase-plane analysis and the linear programming technique. Computer simulations were also performed to show that the proposed scheme makes full use of the actuation redundancy of tendons and their coupled function to shorten motion time.

Keywords: ACTUATION REDUNDANCY; COUPLED TENDON-DRIVEN MECHANISM; HYPER-REDUNDANT MANIPULATOR; TIME-OPTIMAL CONTROL; TRACTION FORCE LIMIT

Document Type: Research Article

DOI: http://dx.doi.org/10.1163/156855301750398338

Affiliations: Department of Systems Engineering, Faculty of Engineering, Ibaraki University, 4-12-1 Nakanarusawa-Cho, Hitachi-Shi 316-8511, Japan

Publication date: July 1, 2001

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