JOINT-SPACE IMPEDANCE CONTROL FOR TENDON-DRIVEN MANIPULATORS

摘要

PROBLEM TO BE SOLVED: To provide a control method and system of tendon-driven manipulators that provide a closed-loop control of joint torques or joint impedances without inducing dynamic coupling between joints in multi-joint robot hands.;SOLUTION: The method includes calculating tendon reference positions or motor commands by projecting a torque error into tendon position space using a single linear calculation. The torque error is calculated using tendon tensions sensed by a sensor and a reference torque and internal tension. The method can be used to control the joint impedance by calculating the reference torque on the basis of a joint position error. The method limits minimum and maximum tendon tensions by projecting the torque error into the tendon tension space and then projecting it back into joint space.;COPYRIGHT: (C)2015,JPO&INPIT