Affiliation of Author(s):机电学院
Journal:2017 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)
Key Words:MECHANISM SYSTEM
Abstract:Tendon sheath actuation has been widely applied in different kinds of robots, as it can provide remote power transmission and effectively simplify the overall mechanical structure of robot systems. However, there existing a lot of nonlinear properties which greatly degrade the transmission precision and control characteristics of tendon sheath actuation system. In this paper, a force transmission model is developed to study the characteristics of tendon sheath actuation system. Besides, a sliding mode control strategy is proposed based on the developed force transmission model in order to improve the force control accuracy. The validity and effectiveness of the transmission model and control strategy are demonstrated by several preliminary experiments. The experimental results indicate that the root mean square errors (RMSE) of the force tracking experiments with sinusoidal desired trajectories are about 0.685 N.
Note:页: 620-625
ISSN No.:2474-2317
Translation or Not:no
Date of Publication:2017-01-01
Date of Publication:2017-01-01