腱に非線形弾性をもつ腱駆動システムの制御 Control of Tendon-Driven Mechanical Systems with Nonlinear Elastic Tendons

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The purpose of this paper is to design nonlinear control systems for tendon-driven robotic mechanical systems.<br>Tendon-driven mechanisms are appropriate especially for force-controlled robotic arms as well as robotic hands, because they allow to locate actuators away in the robot bodies and make them small in size and light in weight. In the dynamic aspect of the mechanisms, one of the most important features is the joint stiffness adjustability using the redundancy of actuators and nonlinear elasticity of tendons.<br>A conventional control system for a tendon-driven robotic mechanism is a double looped control system, which consists of an inner loop for tendon force control and an outer loop to generate the desired tendon forces for position and stiffness control. In this control system, the inner loop has to converge to much faster than the outer one does. Thus the inner loop feedback gains become relatively large and the system tends to be vibrative.<br>In this paper, a nonlinear control system that can control the joint angles and the joint stiffness separately is proposed using an exact input-output linearization approach. A necessary and sufficient condition under which we can design such a contoller is given. Classes of tendon-driven robotic mechanisms which satisfy the condition are also investigated. Finally some numerical results will be given to show the efficiency.

収録刊行物

  • 日本ロボット学会誌  

    日本ロボット学会誌 17(2), 275-281, 1999-03-15 

    The Robotics Society of Japan

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各種コード

  • NII論文ID(NAID)
    10002865751
  • NII書誌ID(NCID)
    AN00141189
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    02891824
  • NDL 記事登録ID
    4679170
  • NDL 雑誌分類
    ZN11(科学技術--機械工学・工業)
  • NDL 請求記号
    Z16-1325
  • データ提供元
    CJP書誌  CJP引用  NDL  J-STAGE 
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