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| Content Provider | The American Society of Mechanical Engineers (ASME) Digital Collection |
|---|---|
| Author | Jyh-Jone Lee Lung-Wen Tsai |
| Copyright Year | 1993 |
| Abstract | Given a set of desired joint torques in an n -DOF tendon-driven manipulator with n + 1 control tendons, the determination of tendon forces is an indeterminate problem. Usually, the pseudo-inverse technique is used to solve for such a problem. In this paper, rather than using the pseudo-inverse technique, an efficient methodology for transforming joint torques (n elements) to motor torques (n + 1 elements) has been developed. This technique, called “torque resolver,” utilizes two circuit-like operators to transform torques between the two different vector spaces. It can be easily programmed on a digital computer or implemented into an analog-circuit system. It is hoped that this technique will make real-time computed-torque control feasible. The technique has been demonstrated through the dynamic simulation of a three-DOF manipulator. |
| Starting Page | 877 |
| Ending Page | 883 |
| Page Count | 7 |
| File Format | |
| ISSN | 10500472 |
| e-ISSN | 15289001 |
| Journal | Journal of Mechanical Design |
| Volume Number | 115 |
| Issue Number | 4 |
| DOI | 10.1115/1.2919282 |
| Language | English |
| Publisher | The American Society of Mechanical Engineers |
| Publisher Date | 1993-12-01 |
| Access Restriction | One Nation One Subscription (ONOS) |
| Subject Keyword | Design Manipulators Torque |
| Content Type | Text |
| Resource Type | Article |
| Subject | Computer Graphics and Computer-Aided Design Mechanical Engineering Mechanics of Materials Computer Science Applications |
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