Dynamics and computed torque control stability of an under-actuated tendon-driven manipulator - Archive ouverte HAL Access content directly
Conference Papers Year : 2023

Dynamics and computed torque control stability of an under-actuated tendon-driven manipulator

Abstract

Tendon-driven manipulators have interesting properties such as reduced inertia and a better behavior w.r.t. physical interactions through the possible modulation of their stiffness. A 2-tendon-driven manipulator inspired by the bird neck is studied in this paper. The manipulator is remotely actuated with two tendons and only one output variable can be controlled. When applying a computed torque control, we observe that the control of one joint is stable but the control of the other joint is unstable. The goal of this paper is to provide a physical interpretation of this behavior. Instability is explained through the study of the dynamics in open-loop. Experiments are conducted that confirm the aforementioned behavior.

Domains

Automatic
Fichier principal
Vignette du fichier
Dynamics_and_control_of_an_under_actuated_2_degrees_of_freedom_manipulator__Corrected_ (1).pdf (2.1 Mo) Télécharger le fichier
Origin : Files produced by the author(s)

Dates and versions

hal-04311457 , version 1 (28-11-2023)

Identifiers

Cite

Nicolas J.S. Testard, Christine Chevallereau, Philippe Wenger. Dynamics and computed torque control stability of an under-actuated tendon-driven manipulator. 16th World Congress of the International Federation for the Promotion of Mechanism and Machine Science (IFToMM WC 2023), Nov 2023, Tokyo, Japan. pp.332-341, ⟨10.1007/978-3-031-45770-8_33⟩. ⟨hal-04311457⟩
18 View
10 Download

Altmetric

Share

Gmail Facebook X LinkedIn More