By Topic

Control System Development for a Novel Wire-Driven Hyper-Redundant Chain Robot, 3D-Trunk

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Ning, K. ; Bernstein Center for Computational Neuroscience, Institute of Physics III, University of Göttingen, Göttingen, Germany ; Worgotter, F.

This paper presents the control system for our novel hyper-redundant chain robot system “3D-Trunk” demonstrating an operational principle that is much different from traditional solutions. Its main features are that all the joints are passive, state controllable and share common inputs introduced by wire-driven control. For this unique design, a force-oriented method is employed to control the driving wires. The mechanical analysis, as well as an analysis of the differential driven mechanism of this design is formulated. The design of a novel wire tension state sensing component and its operation are also described. The system is controlled by distributed embedded controllers. The actuators’ coordination mechanism and the bang–bang controller-based closed-loop control implementation of this novel prototype are discussed from a mechatronic system level. Thus, this paper, together with a predecessor , presents all required details allowing for building and controlling 3D-Trunk.

Published in:

Mechatronics, IEEE/ASME Transactions on  (Volume:17 ,  Issue: 5 )