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Torque control of underactuated tendon-driven robotic fingers
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Copyright Year | 2013 |
| Description | A robotic system includes a robot having a total number of degrees of freedom (DOF) equal to at least n, an underactuated tendon-driven finger driven by n tendons and n DOF, the finger having at least two joints, being characterized by an asymmetrical joint radius in one embodiment. A controller is in communication with the robot, and controls actuation of the tendon-driven finger using force control. Operating the finger with force control on the tendons, rather than position control, eliminates the unconstrained slack-space that would have otherwise existed. The controller may utilize the asymmetrical joint radii to independently command joint torques. A method of controlling the finger includes commanding either independent or parameterized joint torques to the controller to actuate the fingers via force control on the tendons. |
| File Size | 607529 |
| Page Count | 8 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_20150003134 |
| Archival Resource Key | ark:/13960/t11p33972 |
| Language | English |
| Publisher Date | 2013-10-22 |
| Access Restriction | Open |
| Subject Keyword | Cybernetics, Artificial Intelligence And Robotics Controllers Linkages Patents Degrees of Freedom Torque Joints Junctions Radii Actuation Tendons Asymmetry Fingers End Effectors Robots Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science |
| Content Type | Text |
| Resource Type | Patent |
