SIA OpenIR  > 智能产线与系统研究室
Mechanism and Position Tracking Control of a Robotic Manipulator Actuated by the Tendon-Sheath
Yin M(尹猛)1,2,3; Xu ZG(徐志刚)1,2; Zhao ZL( 赵志亮)1,2,4; Wu HT(吴浩廷)1,2,4
Department智能产线与系统研究室
Source PublicationJOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
ISSN0921-0296
2020
Volume100Issue:3-4Pages:849–862
Indexed BySCI ; EI
EI Accession number20203409085707
WOS IDWOS:000560977100001
Contribution Rank1
KeywordTendon-sheath transmission Robotic manipulator Position tracking Fuzzy PID control Time-delay estimation
Abstract

To achieve a manipulator that is lighter and more anthropomorphic, a 7-DOF robotic manipulator driven by the tendon-sheath is designed. Its mechanical system and control system are both introduced in this paper. An encoder is installed on both the driver side and the joint side to realize double closed-loop control. Considering the transmission characteristics of the reducer and the tendon-sheath, a position transmission model of a single joint is constructed. Furthermore, the correctness of the transmission model is verified based on the prototype joint four. A proportional-integral-differential (PID) controller and fuzzy PID controller with time-delay estimation (TDE) are designed based on double encoders, and some experiments on the position tracking control are carried out for the robotic joints. The experimental results show that each joint can rotate normally and there is no interference between the different tendon-sheaths. When the drive motor moves to follow the position command of the sinusoidal signal, the TDE-based fuzzy PID controller can reduce the maximum tracking error compared with the traditional PID controller. According to the experimental results, it is feasible to apply the tendon-sheath transmission to the manipulator, which provides a reference for the development of other equipment based on the tendon-sheath.

Language英语
WOS SubjectComputer Science, Artificial Intelligence ; Robotics
WOS KeywordCOMPENSATION CONTROL ; TRANSMISSION MODEL ; DISTAL-END ; EXOSKELETON ; DESIGN ; SYSTEM ; FORCE
WOS Research AreaComputer Science ; Robotics
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/27564
Collection智能产线与系统研究室
Corresponding AuthorYin M(尹猛)
Affiliation1.State Key Laboratory of Robotics, 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,Xu ZG,Zhao ZL,et al. Mechanism and Position Tracking Control of a Robotic Manipulator Actuated by the Tendon-Sheath[J]. JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS,2020,100(3-4):849–862.
APA Yin M,Xu ZG,Zhao ZL,&Wu HT.(2020).Mechanism and Position Tracking Control of a Robotic Manipulator Actuated by the Tendon-Sheath.JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS,100(3-4),849–862.
MLA Yin M,et al."Mechanism and Position Tracking Control of a Robotic Manipulator Actuated by the Tendon-Sheath".JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 100.3-4(2020):849–862.
Files in This Item:
File Name/Size DocType Version Access License
Mechanism and Positi(6503KB)期刊论文作者接受稿开放获取CC BY-NC-SAView Application Full Text
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Yin M(尹猛)]'s Articles
[Xu ZG(徐志刚)]'s Articles
[Zhao ZL( 赵志亮)]'s Articles
Baidu academic
Similar articles in Baidu academic
[Yin M(尹猛)]'s Articles
[Xu ZG(徐志刚)]'s Articles
[Zhao ZL( 赵志亮)]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Yin M(尹猛)]'s Articles
[Xu ZG(徐志刚)]'s Articles
[Zhao ZL( 赵志亮)]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: Mechanism and Position Tracking Control of a Robotic Manipulator Actuated by the Tendon-Sheath.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.