Robust operation of tendons driven robot fingers with the use of force - and position-based control laws

摘要

Robotic system, comprising:one of a chord driven robot finger; anda control system comprising a voltage sensor and a host machine, wherein the control system is designed, in order to determine whether a voltage sensor for measuring a voltage value of the chord to the robot finger is available, selectively around the finger by means of a force to control unit which is based, when a voltage sensor in the finger is available, and via a position to control unit which is based, when the voltage sensor in the finger is not available, in order to measure the voltage value.