Torque resolver design for tendon-driven manipulators
Journal
American Society of Mechanical Engineers, Design Engineering Division
Journal Volume
46
Pages
203-210
Date Issued
1992
Author(s)
Abstract
Given a set of desired joint torques in an n-DOF tendon-driven manipulator with n -(- 1 control tendons, the determination of tendon forces is an indeterminate problem. Usually, the pseudo-inverse technique is used to solve for such a problem. In this paper, rather than using the pseudo-inverse technique, an efficient methodology for transforming joint torques (n elements) to motor torques (n + 1 elements) has been developed. This technique, called “torque resolver”, utilizes two circuit-like operators to transform torques between the two different vector spaces. It can be easily programmed on a digital computer or implemented into an analog-circuit system. It is hoped that this technique will make real-time computed-torque control feasible. The technique has been demonstrated through the dynamic simulation of a three-DOF manipulator. © 1992 American Society of Mechanical Engineers (ASME). All rights reserved.
Other Subjects
Digital computers; Inverse problems; Machine design; Redundant manipulators; Torque; Vector spaces; Computed torque control; Joint torques; Motor torque; Pseudo-inverse technique; Real time; Tendon forces; Tendon-driven manipulators; Tendons
Type
conference paper