Torque resolver design for tendon-driven manipulators
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 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.
- Research Organization:
- Maryland Univ., College Park, MD (United States)
- Sponsoring Organization:
- USDOE, Washington, DC (United States)
- DOE Contract Number:
- FG05-88ER13977
- OSTI ID:
- 10161817
- Report Number(s):
- CONF-9209143-3; ON: DE92017395
- Resource Relation:
- Conference: 22. American Society of Mechanical Engineers (ASME) biennial mechanisms conference,Scottsdale, AZ (United States),Sep 1992; Other Information: PBD: [1992]
- Country of Publication:
- United States
- Language:
- English
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