Academic Journal
Jointspace torque and stiffness control of tendon-driven manipulators
| العنوان: | Jointspace torque and stiffness control of tendon-driven manipulators |
|---|---|
| المؤلفون: | Muhammad E. Abdallah, Robert Platt, Charles W. Wampler, Brian Hargrave |
| المساهمون: | The Pennsylvania State University CiteSeerX Archives |
| المصدر: | http://www.nd.edu/%7Ecwample1/Preprints/Finger%20control_Humanoids.pdf. |
| سنة النشر: | 2011 |
| المجموعة: | CiteSeerX |
| الوصف: | — Existing tendon-driven fingers have applied force control through independent tension controllers on each tendon, i.e. in the tendon-space. The coupled kinematics of the tendons, however, cause such controllers to exhibit a transient coupling in their response. This problem can be resolved by alternatively framing the controllers in the joint-space of the manipulator. This work presents a joint-space torque control law that demonstrates both a decoupled and significantly faster response than an equivalent tendon-space formulation. The law also demonstrates greater speed and robustness than comparable PI controllers. In addition, a tension distribution algorithm is presented here to allocate forces from the joints to the tendons. It allocates the tensions so that they satisfy both an upper and lower bound, and it does so without requiring linear programming or open-ended iterations. The control law and tension distribution algorithm are implemented on the robotic hand of Robonaut-2. I. |
| نوع الوثيقة: | text |
| وصف الملف: | application/pdf |
| اللغة: | English |
| Relation: | http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.221.7038; http://www.nd.edu/%7Ecwample1/Preprints/Finger%20control_Humanoids.pdf |
| الاتاحة: | http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.221.7038 http://www.nd.edu/%7Ecwample1/Preprints/Finger%20control_Humanoids.pdf |
| Rights: | Metadata may be used without restrictions as long as the oai identifier remains attached to it. |
| رقم الانضمام: | edsbas.983CE5F |
| قاعدة البيانات: | BASE |
| الوصف غير متاح. |