TY - GEN
T1 - Motion control of the robot finger driven by cable system. Finger system of the piano playing robot WABOT-2mkII
AU - Sugano, Shigeki
AU - Muto, Shinyo
AU - Kato, Ichiro
PY - 1990/12/1
Y1 - 1990/12/1
N2 - The WABOT-2mkII is an anthropomorphic robot that can execute actual piano playing work, a piece of information processing work, completely using its autonomous functions. Each hand has 16 degrees of freedom (DOF) in total. To realize the integration of multiple DOF, the cable-conduit drive system is introduced. This study has the purpose of clarifying the motion relationship between the actuator and the joint, establishing a cable system motion control method, and applying it to WABOT-2mkII system. In this paper, the mechanism of WABOT-2mkII, the representation of a cable system by models, and the observations of the control method are discussed.
AB - The WABOT-2mkII is an anthropomorphic robot that can execute actual piano playing work, a piece of information processing work, completely using its autonomous functions. Each hand has 16 degrees of freedom (DOF) in total. To realize the integration of multiple DOF, the cable-conduit drive system is introduced. This study has the purpose of clarifying the motion relationship between the actuator and the joint, establishing a cable system motion control method, and applying it to WABOT-2mkII system. In this paper, the mechanism of WABOT-2mkII, the representation of a cable system by models, and the observations of the control method are discussed.
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M3 - Conference contribution
AN - SCOPUS:0025539341
SN - 0791805158
T3 - Computers in Engineering 1990
SP - 573
EP - 578
BT - Computers in Engineering 1990
A2 - Kinzel, G.L.
A2 - Rohde, S.M.
PB - Publ by ASCE
T2 - Proceedings of the 1990 ASME International Computers in Engineering Conference and Exposition
Y2 - 5 August 1990 through 9 August 1990
ER -