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Compliant Control of Single Tendon-Sheath Actuators Applied to a Robotic Manipulator
Yin M(尹猛)1,2,3; Wu HT(吴浩廷)1,2,4; Xu ZG(徐志刚)1,2; Han W(韩伟)1,2,4; Zhao ZL( 赵志亮)1,2,4
Department智能产线与系统研究室
Source PublicationIEEE Access
ISSN2169-3536
2020
Volume8Pages:37361-37371
Indexed BySCI ; EI
EI Accession number20201208316084
WOS IDWOS:000525566300001
Contribution Rank1
KeywordTendon-sheath actuators robotic manipulator compliant control position transmission model parameter identifications series elastic actuators transmission characteristic
Abstract

Tendon-sheath actuators (TSAs), similar to Bowden cable-based series elastic actuators (SEAs), have a wide range of applications in robots. However, when applying them to manipulators, force sensors cannot be mounted due to limited space. Therefore, this paper proposes a new method for compliant control based on a dual encoder, and the existing transmission model was improved by considering the joint torque. To validate the proposed method, experimental setups composed of a motor, a tendon-sheath component, a robotic joint, force sensors, and position sensors are established. The transmission processes are interpreted clearly through a position control mode. Parameter identifications without external disturbance force are conducted to acquire the ideal transmission model, and the error value between the experiment data and the fitted curve is measured. The availability of the presented scheme is verified by compliant control experiments, including collision detection and hand guiding, and the frequency characteristics of the actuator are analyzed. The results show that the function can be realized without force and torque sensors during the whole process.

Language英语
WOS SubjectComputer Science, Information Systems ; Engineering, Electrical & Electronic ; Telecommunications
WOS KeywordCOMPENSATION CONTROL ; TRANSMISSION MODEL ; EXOSKELETON ; DESIGN ; SYSTEM
WOS Research AreaComputer Science ; Engineering ; Telecommunications
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/26565
Collection智能产线与系统研究室
Corresponding AuthorYin M(尹猛)
Affiliation1.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
3.University of Chinese Academy of Sciences, Beijing 100049, China
4.School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110169, China
Recommended Citation
GB/T 7714
Yin M,Wu HT,Xu ZG,et al. Compliant Control of Single Tendon-Sheath Actuators Applied to a Robotic Manipulator[J]. IEEE Access,2020,8:37361-37371.
APA Yin M,Wu HT,Xu ZG,Han W,&Zhao ZL.(2020).Compliant Control of Single Tendon-Sheath Actuators Applied to a Robotic Manipulator.IEEE Access,8,37361-37371.
MLA Yin M,et al."Compliant Control of Single Tendon-Sheath Actuators Applied to a Robotic Manipulator".IEEE Access 8(2020):37361-37371.
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