IN-VIVO TENSION CALIBRATION IN TENDON-DRIVEN MANIPULATOR

摘要

PROBLEM TO BE SOLVED: To provide a method for calibrating tension sensors on tendons in a tendon-driven manipulator without disassembling the manipulator and without external force references.

SOLUTION: The method calibrates the tensions against each other to produce results that are kinematically consistent. The results might not be absolutely accurate, however, they are optimized with respect to an initial or nominal calibration. The method includes a step of causing the tendons to be slack and a step of recording the sensor values from sensors that measure the tension on the tendons. The method further includes a step of tensioning the tendons with the manipulator positioned so that it is not in contact with any obstacle or joint limit and a step of again recording the sensor values. The method then performs a regression process to determine the sensor parameters that both satisfy a zero-torque constraint on the manipulator and minimize the error with respect to nominal calibration values.

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