NDLI: Robust operation of tendon-driven robot fingers using force and position-based control laws

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Robust operation of tendon-driven robot fingers using force and position-based control laws

Content Provider	NASA Technical Reports Server (NTRS)
Copyright Year	2013
Description	A robotic system includes a tendon-driven finger and a control system. The system controls the finger via a force-based control law when a tension sensor is available, and via a position-based control law when a sensor is not available. Multiple tendons may each have a corresponding sensor. The system selectively injects a compliance value into the position-based control law when only some sensors are available. A control system includes a host machine and a non-transitory computer-readable medium having a control process, which is executed by the host machine to control the finger via the force- or position-based control law. A method for controlling the finger includes determining the availability of a tension sensor(s), and selectively controlling the finger, using the control system, via the force or position-based control law. The position control law allows the control system to resist disturbances while nominally maintaining the initial state of internal tendon tensions.
File Size	873843
Page Count	12
File Format	PDF
Alternate Webpage(s)	http://archive.org/details/NASA_NTRS_Archive_20140016597
Archival Resource Key	ark:/13960/t6f23zd84
Language	English
Publisher Date	2013-07-16
Access Restriction	Open
Subject Keyword	Cybernetics, Artificial Intelligence And Robotics Patents Degrees of Freedom Robot Control End Effectors Control Theory Feedback Control Robot Dynamics Robotics Tendons Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science
Content Type	Text
Resource Type	Patent

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