发明名称 |
Torque control of underactuated tendon-driven robotic fingers |
摘要 |
A robotic system includes a robot having a total number of degrees of freedom (DOF) equal to at least n, an underactuated tendon-driven finger driven by n tendons and n DOF, the finger having at least two joints, being characterized by an asymmetrical joint radius in one embodiment. A controller is in communication with the robot, and controls actuation of the tendon-driven finger using force control. Operating the finger with force control on the tendons, rather than position control, eliminates the unconstrained slack-space that would have otherwise existed. The controller may utilize the asymmetrical joint radii to independently command joint torques. A method of controlling the finger includes commanding either independent or parameterized joint torques to the controller to actuate the fingers via force control on the tendons.
|
申请公布号 |
US8565918(B2) |
申请公布日期 |
2013.10.22 |
申请号 |
US20100720727 |
申请日期 |
2010.03.10 |
申请人 |
ABDALLAH MUHAMMAD E.;IHRKE CHRIS A.;REILAND MATTHEW J.;WAMPLER, II CHARLES W.;DIFTLER MYRON A.;PLATT ROBERT;BRIDGWATER LYNDON;GM GLOBAL TECHNOLOGY OPERATIONS LLC;THE UNITED STATES OF AMERICA AS REPRESENTED BY THE ADMINISTRATOR OF THE NATIONAL AERONAUTICS AND SPACE ADMINISTRATION |
发明人 |
ABDALLAH MUHAMMAD E.;IHRKE CHRIS A.;REILAND MATTHEW J.;WAMPLER, II CHARLES W.;DIFTLER MYRON A.;PLATT ROBERT;BRIDGWATER LYNDON |
分类号 |
G06F19/00 |
主分类号 |
G06F19/00 |
代理机构 |
|
代理人 |
|
主权项 |
|
地址 |
|