On Stiffness Control of Tendon-Driven Robotic Mechanism with Redundant Tendons
On Stiffness Control of Tendon-Driven Robotic Mechanism with Redundant Tendons
复制标题
冗余筋腱驱动机器人机构刚度控制研究
DOI：
10.7210/jrsj.17.493
复制
发表时间：
1999
期刊：
影响因子：
--
通讯作者：
Keijiro Yamamoto
中科院分区：
文献类型：
--
作者：
K. Hyodo;Hiroaki Kobayashi;D. Ogane;Keijiro Yamamoto
肌腱驱动机构由于体积小、重量轻，主要用于指关节型手。近年来，由于力控制机器人手臂的需要，一些研究人员开发了肌腱驱动机器人手臂。在这种情况下，由于机器人手臂比机器人手指重得多，也长得多，肌腱的长度显著增加，而且必须穿过非常复杂的路径。因此，通常的N+1型或2N型肌腱驱动机构不足以移动机器人手臂，并且使用多个冗余肌腱来将总载荷分配给每个肌腱并减少个体负担。例如，由于重力，如果顺时针方向的载荷与逆时针方向的载荷明显不同，则我们可以分别为每个方向使用不同数量的钢筋束。冗余肌腱机构还有其他优点。例如，我们可以移动的机器人手臂与其他肌腱时，一些肌腱已被打破，我们也可以调整机械关节的阻抗利用肌腱的非线性弹性。本文讨论了几个基本问题的关节柔度可调性的冗余肌腱控制的机器人手臂。也就是说，局部最大值集的刚度元素是可调的同时，和条件下，可以使用非线性柔筋调整关节阻抗进行了讨论。
Tendon-driven mechanisms have been used mainly in articulated-finger hands because of the small size and the light weight. Recently, for the necessity of forcecontrolled robot arms, several researchers developed tendon driven robot arms. In the case, since robot arms are much heavier and longer than robot hand fingers, tendons increase in the length significantly and also must run through very complicated paths. Therefore usual N+1 type or 2N type tendon-driven mechanisms are not enough to move robot arms and a number of redundant tendons are used to divide the total load into each of tendons and reduce the individual burden. For example, due to the gravity force, if the load in the clockwise direction is different significantly from the one in the counter-clockwise direction, we can use different number of tendons for each direction, respectively. There are additional advantages in a redundant tendon mechanism. For example, we can move the robot arm with the other tendons when some tendons have been broken and we can also adjust the mechanical joint impedance using non-linear elasticity of tendons.In this paper, several basic issues on the joint compliance adjustability for a robot arm controlled with redundant tendons are discussed. Namely, local maximum sets of stiffness elements which are adjustable simultaneously, and conditions under which the joint impedance can be adjusted using non-linear compliance tendons are discussed.