Control strategies for tendon-driven manipulators

Jacobsen, Stephen C.; Ko, Hong-Cheol; Iversen, Edwin; Davis, C.C.

doi:10.1109/37.45790

Cited by 58 publications

(37 citation statements)

References 7 publications

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“…This actually goes beyond the idea rigidizing control and opens the possibility of achieving high performance by actively controlling the shape of the structural element in real time (in addition to using the classical joint-manipulator actuators). The use of tendons for control has seen wide application in the design of manipulators (see, for example, [13,14]), and has been used for active control in large structures [15,16]. We are able to model a structural element with tension cables embedded within the material of the beam element and to incorporate a distributed control model for this situation into our basic model.…”

Section: Introductionmentioning

confidence: 99%

A model for the embedded tendon control of a slender three-dimensional flexible robot link

Davis

Hirschorn

1994

Dynamics and Control

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Abstract. In this article we develop a model for a very flexible link that incorporates distributed controls and can be caused to achieve large transverse deflections as part of an overall control scheme. This ability opens the possibility of combining structural and position control actuator functions ~vithin a single lightweight physical device (with inextensible centerline). Emphasis is placed on presenting a basic model for this situation in terms and variables that are useful for integration with the conventions of conventional rigid-body robot dynamics.

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Section: Introductionmentioning

confidence: 99%

A model for the embedded tendon control of a slender three-dimensional flexible robot link

Davis

Hirschorn

1994

Dynamics and Control

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“…The transmission is of type 2N (Jacobsen et al, 1989), with two actuators perchannel, as illustrated in Figure 6. Each motor is driven by a half-wave signal.…”

Section: Tendon Transmissionmentioning

confidence: 99%

Parameter Sensitivity Analysis for Design and Control of Force Transmission Systems

Hayward

Cruz-Hernández

1998

Journal of Dynamic Systems, Measurement, and Control

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We apply sensitivity analysis to the design and control of force transmission systems. With this approach, the e ect of the values of the system parameters on the response can beinvestigated: transmission ratio, sensor placement, damping and allowable load variation. It is found that feedback m ust be applied to reduce the sensitivity of the system response to the load. Based on these observations, a loop shaped feedback compensator design is proposed. Such compensators can compensate for the nonlinear behavior of the transmissions due to friction, while exhibiting good disturbance rejection and robustness. This is achieved without detailed knowledge of friction behavior and without measurement nor estimation of velocity. Experimental results using a test bench are discussed.

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“…The advantages of humanlike joint structures have been identified in a number of investigations [41,57,58], but definite answers to the control problem are yet to be found. Very few results have been presented on attempts at control of the antagonistically coupled compliant drives [28,37]. In this section we focus on energy efficiency and suggest a new control approach inspired by patterns of electromyography signals measured in antagonistically coupled human muscles [21].…”

Section: Puller-follower Controlmentioning

confidence: 99%

Toward Anthropomimetic Robotics: Development, Simulation, and Control of a Musculoskeletal Torso

et al. 2013

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A version of this paper with color figures is available online at http://dx.doi.org/10.1162/ artl_a_00088. Subscription required.Abstract Anthropomimetic robotics differs from conventional approaches by capitalizing on the replication of the inner structures of the human body, such as muscles, tendons, bones, and joints. Here we present our results of more than three years of research in constructing, simulating, and, most importantly, controlling anthropomimetic robots. We manufactured four physical torsos, each more complex than its predecessor, and developed the tools required to simulate their behavior. Furthermore, six different control approaches, inspired by classical control theory, machine learning, and neuroscience, were developed and evaluated via these simulations or in small-scale setups. While the obtained results are encouraging, we are aware that we have barely exploited the potential of the anthropomimetic design so far. But, with the tools developed, we are confident that this novel approach will contribute to our understanding of morphological computation and human motor control in the future.

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Control strategies for tendon-driven manipulators

Cited by 58 publications

References 7 publications

A model for the embedded tendon control of a slender three-dimensional flexible robot link

A model for the embedded tendon control of a slender three-dimensional flexible robot link

Parameter Sensitivity Analysis for Design and Control of Force Transmission Systems

Toward Anthropomimetic Robotics: Development, Simulation, and Control of a Musculoskeletal Torso

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