Modeling, Identification, and Control of Tendon-Based Actuation Systems

摘要: In this paper, we deal with several aspects related to the control of tendon-based actuation systems for robotic devices. particular, problems that are considered in paper modeling, identification, and tendons sliding on curved pathways, subject friction viscoelastic effects. Tendons made polymeric materials considered, therefore, hysteresis transmission system characteristic must be taken into account as an additional nonlinear effect because plasticity creep phenomena typical these materials. With aim reproducing behaviors, a model is used tendon compliance. Particular attention has been given effects arising from interaction between pathway itself. This phenomenon characterized by means LuGre-like dynamic consider cannot reproduced employing static model. A specific setup able measure tendon's tension different points along its path designed order verify distribution identify proper parameters. Finally, simple strategy compensation force applied load proposed experimentally verified.