NDLI: Position control of tendon-driven fingers

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Position control of tendon-driven fingers

Content Provider	NASA Technical Reports Server (NTRS)
Author	Hargrave, B. Platt Jr., Robert Abdallah, Muhammad E. Pementer, Frank
Copyright Year	2011
Description	Conventionally, tendon-driven manipulators implement some force control scheme based on tension feedback. This feedback allows the system to ensure that the tendons are maintained taut with proper levels of tensioning at all times. Occasionally, whether it is due to the lack of tension feedback or the inability to implement sufficiently high stiffnesses, a position control scheme is needed. This work compares three position controllers for tendon-driven manipulators. A new controller is introduced that achieves the best overall performance with regards to speed, accuracy, and transient behavior. To compensate for the lack of tension feedback, the controller nominally maintains the internal tension on the tendons by implementing a two-tier architecture with a range-space constraint. These control laws are validated experimentally on the Robonaut-2 humanoid hand. I
File Size	230017
Page Count	7
File Format	PDF
Alternate Webpage(s)	http://archive.org/details/NASA_NTRS_Archive_20110011096
Archival Resource Key	ark:/13960/t2z36t03q
Language	English
Publisher Date	2011-01-01
Access Restriction	Open
Subject Keyword	Cybernetics, Artificial Intelligence And Robotics Robot Control Control Systems Design Feedback Manipulators End Effectors Control Theory Robot Dynamics Adaptive Control Robotics Robots Tendons Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science
Content Type	Text
Resource Type	Article

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