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Set-point force control of tendon-driven robotic mechanisms with nonlinear tendon elasticity

机译：具有非线性肌腱弹性的肌腱驱动机器人机构的设定点力控制

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摘要

Force control of a tendon-driven robotic mechanism is usually done with an active compliance controller, even if the mechanism has passive compliance elements. The controller usually consists of multi feedback loops where the inner loop controls the tension forces of tendons, and the outer one controls the joint angles of the robot. For such a controller, it is assumed that the inner loop converges quickly enough so that we can ignore the dynamics of the inner loop when we design the outer feedback loop. This turns to restrict the bandwidth of the outer loop. Also it means that the stability is not proved strictly. In this paper, we show that a tendon-driven mechanism with nonlinear tendon elasticity should be controlled in the actuator level in order to utilize the performance of the compliant elements efficiently. As one of such controllers, a set-point PD controller is applied to a tendon-driven robotic mechanism to control the contact force with the environment and the Lyapunov stability is investigated. The stability analysis of a tendon-driven manipulator is rather complicated than that of a conventional manipulator or an elastic joint manipulator, because a tendon-driven manipulator has more numbers of tendons than that of the joints and the tendons have nonlinear elasticity. We derive a set of sufficient conditions for the Lyapunov stability and show some numerical simulation results.
机译：肌腱驱动的机器人机构的力控制通常由主动柔量控制器完成，即使该机械具有被动柔量元件也是如此。控制器通常由多个反馈回路组成，其中内部回路控制肌腱的张力，外部回路控制机器人的关节角度。对于这样的控制器，假定内部环路收敛得足够快，因此在设计外部反馈环路时我们可以忽略内部环路的动态。这将限制外部环路的带宽。这也意味着没有严格证明其稳定性。在本文中，我们表明应在执行器级别上控制具有非线性肌腱弹性的肌腱驱动机制，以便有效利用顺应性元件的性能。作为此类控制器中的一种，将设定点PD控制器应用于腱驱动的机器人机构以控制与环境的接触力，并研究了Lyapunov的稳定性。肌腱驱动机械手的稳定性分析比常规机械臂或弹性关节机械手的稳定性分析要复杂得多，因为肌腱驱动机械手的肌腱数量多于关节的数量，并且肌腱具有非线性弹性。我们导出了Lyapunov稳定性的一组充分条件，并显示了一些数值模拟结果。

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