Dynamic Optimization of Tendon Tensions in Biomorphically Designed Hands with Rolling Constraints
Biomorphic structures for robotic manipulation based on tendon-driven mechanisms have been considered in robotic design for several decades, since they provide lightweight end-effectors with high dynamics. Following this trend, many new robot designs have being proposed based on tendon driven systems. Quite noticeably, the most advanced ones include also higher kinematic pairs and unilateral types of constraints. In this paper, we present a general framework for modeling the above class of mechanical systems for robotic manipulation. Such systems, including biomorphically designed devices, consist of articulated limbs with redundant tendinous actuation and unilateral rolling constraints. Methods based on convex analysis are applied to attack this broader class of mechanisms, and are shown to provide a basis for the dynamic control of co-contraction and internal forces that guarantee the correct operation of the system, despite limited friction between contacting surfaces or object fragility. An algorithm is described and tested that integrates a computed torque law, and allows to control tendon actuators to “optimally comply with the prescribed constraints.
Marco Gabiccini Mirko Branchetti Antonio Bicchi
Department of Mechanical,Nuclear and Production Engineering,University of Pisa,56122 Pisa,Italy Interdepartmental Research Center E. Piaggio,University of Pisa,56122 Pisa,Italy
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
2698-2704
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）