Stiffness control of the coupled tendon-driven robot hand
Stiffness control of the coupled tendon-driven robot hand
复制标题
耦合腱驱动机器人手的刚度控制
DOI：
10.1109/icsmc.1993.385101
复制
发表时间：
1993
期刊：
影响因子：
--
通讯作者：
Yougil Youm
中科院分区：
文献类型：
--
作者：
Young;Jung;W. Chung;Yougil Youm
本文提出了具有刚度控制能力的耦合腱驱动机器人手的设计和控制方法。通过使用肌腱作为力传递机构，我们可以实现机器人手的紧凑设计。由于肌腱的特性，我们考虑了当关节意外受到干扰时的肌腱松弛问题，以及当使用并置位置传感方法进行紧凑设计时的肌腱伸长问题。为了解决这些问题，开发了两种基本算法。首先，开发了位置估计算法来评估手的准确位置，并引入了对抗腱控制器。其次，开发了主动刚度控制算法来控制指尖力。<<ETX>>
This paper presents the methods of design and control for a coupled tendon-driven robot hand with stiffness control capability. By using the tendon as a force transmission mechanism, we can achieve the compact design of the robot hand. Because of the tendon characteristics, we consider the tendon slacking problem when the joint is unexpectedly disturbed and the tendon elongation problem when the collocated position sensing method is used for compact design. To cope with these problems, two fundamental algorithms are developed. First, the position estimation algorithm is developed to evaluate the accurate position of the hand, and an antagonistic tendon controller is introduced. Secondly, the active stiffness control algorithm is developed to control the fingertip force.<<ETX>>
DOI：
10.1016/0024-3795(81)90106-3
发表时间：
2020-11
期刊：
--
影响因子：
--
作者：
Tzuong-Tsieng Moh
通讯作者：
Tzuong-Tsieng Moh