| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a system and method for controlling tendon-driven manipulators, which makes a closed loop control of joint torques or joint impedances without inducing dynamic coupling between joints, in a multijoint robot hand. <P>SOLUTION: This method includes a step for calculating tendon reference positions or motor commands by projecting a torque error into tendon position space using a single linear operation. The method calculates this torque error using sensed tendon tensions and a reference torque and internal tension. The method is used to control joint impedance by calculating the reference torque, based on a joint position error. The method also limits the minimum and maximum tendon tensions by projecting the torque error into the tendon tension space and then projecting it back into joint space again. <P>COPYRIGHT: (C)2010,JPO&INPIT</p> |
