Abstract
Tendon-driven robot manipulators are often used to actuate distal joints. The tendons allow the actuators to be located outside the fingers. Conventionally, the use of the tendons of the fingers allows for the significant reduction to the size and weight, in this case, which approximately similar to that of the human. To achieve the interaction with unstructured environments, a torque control system is presented based on the single neuron networks (SNN) in this paper. The torque control allows the system maintain proper torques on the joints. Meanwhile, this controller calculates actuator positions based on the error measured by the actual joint torques and desired joint torques. Simulations have been conducted on a tendon-driven finger model to demonstrate that the proposed controller can achieve the faster response, and then decrease overshoot comparing to a PI controller.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Ozawa, R., Hashirii, K., Kobayashi, H.: Design and control of under-actuated tendon driven mechanisms. In: 9th IEEE International Conference on Robotics and Automation, pp. 1522–1527. IEEE Press, New York (2009)
Abdallah, M.E., Robert, P.J., Charles, W.W., Hargrave, B.: Applied joint-space torque and stiffness control of tendon-driven fingers. In: 10th IEEE-RAS International Conference on Humanoid Robots (Humanoids), pp. 74–79. IEEE Press, New York (2010)
Abdallah, M.E., Platt, R.J., Wampler, C.W.: Decoupled torque control of tendon-driven fingers with tendon management. Int. J. Robot. Res. 32, 247–258 (2013)
Abdallah, M.E., Charles, W., Platt, J.R.: Object impedance control using a closed chain task definition. In: 10th IEEE-RAS International Conference on Humanoid Robots (Humanoids), pp. 26–274. IEEE Press, New York (2010)
Lee, Y.T., Choi, H.R., Chung, W.K., Youm, Y.: Stiffness control of a coupled tendon-driven robot hand. IEEE Control Syst. Mag. 14, 10–19 (1994). IEEE Press, New York
Platt, R.J., Abdallah, M.E., Wampler, C.W.: Multiple priority impedance control. In: Proceeding of the IEEE International Conference on Robotics and Automation, pp. 6033–6038. IEEE Press, New York (2011)
Alqaudi, B., Modares, H., Ranatunga, I.: Model reference adaptive impedance control for physical human-robot interaction. Control Theor. Technol. 14, 68–82 (2016). Springer, Heidelberg
Hussain, S., Xie, S.Q., Jamwal, P.K.: Adaptive impedance control of a robotic orthosis for gait rehabilitation. IEEE Trans. Cybern. 43, 1025–1043 (2013). IEEE Press, New York
Huang, P., Meng, Z., Wang, D.: Impact dynamic modeling and adaptive target capturing control for tethered space robots with uncertainties. IEEE/ASME Trans. Mechatron. 21, 2260–2271 (2016). IEEE Press, New York
Reiland, M.J., Platt, R., Charles, W.W.I., Abdallah, M.E., Hargrave, B.: U.S. Patent No. 8,060,250. U.S. Patent and Trademark Office, Washington, DC (2011)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Meng, M., Wang, X., Wang, X. (2017). Adaptive SNN Torque Control for Tendon-Driven Fingers. In: Fei, M., Ma, S., Li, X., Sun, X., Jia, L., Su, Z. (eds) Advanced Computational Methods in Life System Modeling and Simulation. ICSEE LSMS 2017 2017. Communications in Computer and Information Science, vol 761. Springer, Singapore. https://doi.org/10.1007/978-981-10-6370-1_23
Download citation
DOI: https://doi.org/10.1007/978-981-10-6370-1_23
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-10-6369-5
Online ISBN: 978-981-10-6370-1
eBook Packages: Computer ScienceComputer Science (R0)