发明名称 |
ROBUST OPERATION OF TENDON-DRIVEN ROBOT FINGER USING FORCE AND POSITION-BASED CONTROL LAW |
摘要 |
<P>PROBLEM TO BE SOLVED: To provide robust operation of robot fingers. <P>SOLUTION: A system includes a tendon-driven finger 14 and a control system 12. The system controls the finger via a force-based control law when a tension sensor is available, and via a position-based control law when a sensor is not available. Multiple tendons may each have a corresponding sensor and selectively injects a compliance value into the position-based control law. A control process is executed by the host machine to control the finger via the force- or position-based control law. A method for controlling the finger includes a step of determining the availability of the tension sensor, and a step of selectively controlling the finger, using the force or position-based control law. The position control law allows the control system to resist disturbances while nominally maintaining the initial state of internal tendon tensions. <P>COPYRIGHT: (C)2012,JPO&INPIT |
申请公布号 |
JP2012096349(A) |
申请公布日期 |
2012.05.24 |
申请号 |
JP20110181660 |
申请日期 |
2011.08.23 |
申请人 |
GM GLOBAL TECHNOLOGY OPERATIONS LLC;UNITED STATES OF AMERICA AS REPRESENTED BY THE ADMINISTRATOR OF THE NATIONAL AERONAUTICS & SPACE ADMINISTRATION |
发明人 |
ABDALLAH MUHAMMAD E;PLATT JR ROBERT J;REILAND MATTHEW J;HARGRAVE BRIAN;DIFTLER MYRON A;STRAWSER PHILIP A;IHRKE CHRIS A |
分类号 |
B25J13/00;B25J15/08 |
主分类号 |
B25J13/00 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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