COMPLIANCE ANALYSIS AND TENDON FORCE CONTROL FOR TENDON-DRIVEN ROBOTIC MECHANISMS WITH FLEXIBLE TENDONS
Date Issued
2004
Date
2004
Author(s)
Yen, Home-Che
DOI
zh-TW
Abstract
In this thesis, the compliance analysis and tendon force control for tendon-driven robotic mechanisms with flexible tendons are performed. In the compliance analysis, the kinematic analysis for mechanisms with flexible tendons is established using the fundamental circuit equation. Subsequently, relations between the force and displacement are derived and the stiffness compliance matrix of the mechanism is studied. Dynamic equations of this system are also analyzed and resonant frequencies of this system are derived through local linearization of the dynamic model. In the tendon force control, the artificial potential field concept and Lyapunov stability theorem are used to design the controller for tendon-driven robotic mechanisms. It is shown the controller designed allows the robotic system to follow the desired trajectory and improve the tendon slack problem.
Subjects
人造位能場
具撓性腱驅動機構
剛性矩陣
區域線性化
flexible tendons
resonant frequency
tendon-driven mechanismstendon-driven mechanisms
Type
thesis
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