首页    期刊浏览 2025年07月14日 星期一
登录注册

文章基本信息

  • 标题:The Puller-Follower Control of Compliant and Noncompliant Antagonistic Tendon Drives in Robotic Systems
  • 作者:Veljko Potkonjak ; Bratislav Svetozarevic ; Kosta Jovanovic
  • 期刊名称:International Journal of Advanced Robotic Systems
  • 印刷版ISSN:1729-8806
  • 电子版ISSN:1729-8814
  • 出版年度:2011
  • 卷号:8
  • 期号:5
  • 页码:69
  • DOI:10.5772/10690
  • 语种:English
  • 出版社:SAGE Publications
  • 摘要:This paper proposes a new control strategy for noncompliant and compliant antagonistic tendon drives. It is applied to a succession of increasingly complex single-joint systems, starting with a linear and noncompliant system and ending with a revolute, nonlinearly tendon coupled and compliant system. The last configuration mimics the typical human joint structure, used as a model for certain joints of the anthropomimetic robot ECCEROBOT. The control strategy is based on a biologically inspired puller-follower concept, which distinguishes the roles of the agonist and antagonist motors. One actuator, the puller, is considered as being primarily responsible for the motion, while the follower prevents its tendon from becoming slack by maintaining its tendon force at some non-zero level. Certain movements require switching actuator roles; adaptive co-contraction is used to prevent tendons slackening, while maintaining energetic efficiency. The single-joint control strategy is then evaluated in a multi-joint system. Dealing with the gravitational and dynamic effects arising from the coupling in a multi-joint system, a robust control design has to be applied with on-line gravity compensation. Finally, an experiment corresponding to object grasping is presented to show the controller's robustness to external disturbances.
  • 关键词:Anthropomimetic robots; antagonistic tendon drive; biologically inspired control; passive compliance.
Loading...
联系我们|关于我们|网站声明
国家哲学社会科学文献中心版权所有