首页>
外国专利>
Joint-space impedance control for tendon-driven manipulators
Joint-space impedance control for tendon-driven manipulators
展开▼
机译:肌腱驱动机械手的关节间隙阻抗控制
展开▼
页面导航
摘要
著录项
相似文献
摘要
A system and method for controlling tendon-driven manipulators that provide a closed-loop control of joint torques or joint impedances without inducing dynamic coupling between joints. The method includes calculating tendon reference positions or motor commands by projecting a torque error into tendon position space using a single linear operation. The method calculates this torque error using sensed tendon tensions and a reference torque and internal tension. The method can be used to control joint impedance by calculating the reference torque based on 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 ii back into joint space.
展开▼