Control strategies for tendon-driven manipulators
Control strategies for tendon-driven manipulators
复制标题
腱驱动机械手的控制策略
DOI：
10.1109/37.45790
复制
发表时间：
1990
影响因子：
5.7
通讯作者：
C. C. Davis
中科院分区：
文献类型：
--
作者：
S. Jacobsen;H. Ko;E. Iversen;C. C. Davis
提出了两种拮抗剂控制算法。这些算法被用来控制机械手链接对抗驱动的两个致动器通过肌腱。它们已被模拟和实验表明，产生更好的主动和被动性能的电气测试系统比控制算法开发的早期。在控制算法和早期的控制算法之间有两个基本的区别。首先，新算法允许向致动器提供正和负（推和拉）命令。以前的系统只产生拉力命令，确保肌腱不会松弛，不会产生反冲和其他问题。新的控制器允许向致动器发出推动命令，但仍然不允许肌腱松弛。第二，每个致动器，除了被反馈回其各自的肌腱力，被反馈回正和负的操纵器关节扭矩。这一特性允许两个执行器同时响应扭矩误差。<<ETX>>
Two antagonist control algorithms are presented. These algorithms are used to control manipulator links antagonistically driven by two actuators via tendons. They have been simulated and experimentally shown to produce better active and passive performance for an electric test system than control algorithms developed earlier. There are two fundamental differences between the control algorithms and earlier ones. First, the new algorithms allow both positive and negative (push and pull) commands to be given to the actuators. Previous systems generated only pull commands, ensuring that tendons would not go slack and give rise to backlash and other problems. The new controllers allow push commands to the actuators, but still do not allow tendons to go slack. Second, each actuator, in addition to being fed back its respective tendon force, is fed back both positive nd negative manipulator joint torques. This feature allows both actuators to respond simultaneously to torque errors.<<ETX>>