Control strategies for tendon-driven manipulators

摘要: Two antagonist control algorithms are presented. These used to manipulator links antagonistically driven by two actuators via tendons. They have been simulated and experimentally shown produce better active passive performance for an electric test system than developed earlier. There fundamental differences between the earlier ones. First, new allow both positive negative (push pull) commands be given actuators. Previous systems generated only pull commands, ensuring that tendons would not go slack give rise backlash other problems. The controllers push actuators, but still do slack. Second, each actuator, in addition being fed back its respective tendon force, is nd joint torques. This feature allows respond simultaneously torque errors. >