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首页> 外文会议>Mechatronics, 2009. ICM 2009 >Control of tendon-driven robotic mechanisms by non-linear springs with hysteresis characteristics
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Control of tendon-driven robotic mechanisms by non-linear springs with hysteresis characteristics

机译：具有滞后特性的非线性弹簧对肌腱驱动机器人机构的控制

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摘要

Tasks of robot manipulators are expanding from repetitive tasks in nonhuman environment such as factories to various tasks in human environment such as hospitals and offices. Safety and variety of tasks are necessary for manipulators in human environment, which are acquired by adjustment of joint stiffness. There are tendon mechanisms with nonlinear springs as a joint stiffness adjustment mechanism. SAT (stiffness adjustable tendon) has some advantages such as light and cheap among nonlinear springs. On the other hand, conventional controllers based on a characteristics equation of general nonlinear springs do not realize precise tension control due to hysteresis characteristics of SAT. Therefore, a controller suitable for tendon mechanisms with nonlinear springs whose characteristic equations are not available is realized by adding tension error feedback control with disturbance observer and reaction force observer. Moreover, effectiveness of the proposed method is confirmed by simulations.
机译：机器人操纵器的任务正从非人类环境（例如工厂）中的重复性任务扩展到人类环境中（例如医院和办公室）中的各种任务。对于人类环境中的机械手而言，安全性和各种任务都是必需的，这可以通过调整关节的刚度来实现。有带有非线性弹簧的肌腱机制作为关节刚度调节机制。 SAT（刚度可调肌腱）具有一些优点，例如在非线性弹簧中重量轻且价格便宜。另一方面，基于SAT的滞后特性，基于一般非线性弹簧的特性方程式的常规控制器不能实现精确的张力控制。因此，通过增加具有干扰观测器和反作用力观测器的张力误差反馈控制，可以实现一种适用于具有非线性弹簧的肌腱机构的控制器，该控制器的特征方程式不可用。此外，仿真验证了所提方法的有效性。

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