Proceedings ArticleDOI
An investigation of the transmission system of a tendon driven robot hand
A. Nahvi,John M. Hollerbach,Yangming Xu,Ian W. Hunter +3 more
- Vol. 1, pp 202-208
TLDR
The transmission system of the Utah/MIT Dextrous Hand is investigated theoretically and experimentally and it is shown that the friction of the routing pulleys is not negligible and should be considered in the force control of the UMDH.Abstract:
The transmission system of the Utah/MIT Dextrous Hand (UMDH) is investigated theoretically and experimentally. It is shown that the friction of the routing pulleys is not negligible and should be considered in the force control of the UMDH. In the frequency range of the pneumatic actuators (80 Hz), tendons act like springs and the first mode of the tendons is above that frequency range. >read more
Citations
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Journal ArticleDOI
Modeling, Identification, and Control of Tendon-Based Actuation Systems
TL;DR: A simple control strategy for the compensation of these nonlinear effects and the control of the force that is applied by the tendon to the load is proposed and experimentally verified.
Journal ArticleDOI
Position Control of Motion Compensation Cardiac Catheters
Samuel B. Kesner,Robert D. Howe +1 more
TL;DR: An actuated catheter system that compensates for the fast motion of cardiac tissue using 3-D ultrasound image guidance is presented and in vivo results are presented, which demonstrate that the catheter can track the cardiac tissue motion with less than 1-mm rms error.
Journal ArticleDOI
Modeling of Transmission Characteristics Across a Cable-Conduit System
TL;DR: A mathematically rigorous distributed parameter model for cable-conduit actuation with any curvature and initial tension profile across the cable is proposed, which is described by a set of partial differential equations in the continuous time-domain and discretized for the effective numerical simulation of the cable motion and tension transmission across the cables.
Proceedings ArticleDOI
Control of cable actuated devices using smooth backlash inverse
TL;DR: A novel smooth backlash inverse is proposed, which takes the physical limitations of the actuator in consideration, unlike other designs, and thus makes it more intuitive to use and can also improve the system performance over the theoretical exact inverse, as well as other existing smooth inverse designs.
Journal ArticleDOI
An investigation of friction-based tendon sheath model appropriate for control purposes
TL;DR: In this paper, a dynamic friction model that allows accurate description of friction lag and hysteresis behavior in two regimes, i.e., presliding and sliding regimes, for a tendon sheath in arbitrary configuration such as helical and spatial shape has been developed.
References
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Journal ArticleDOI
Articulated Hands: Force Control and Kinematic Issues
J. Kenneth Salisbury,J. J. Craig +1 more
TL;DR: Several architectures for position and force control of this multiloop mechanism are described, including a way of dealing with the internal forces inherent in such systems.
Journal ArticleDOI
Articulated hands: Force control and kinematic issues
J. Kenneth Salisbury,J. J. Craig +1 more
TL;DR: In this article, the Stanford-JPL hand is described and several architectures for position and force control of this multiloop mechanism are described, including a way of dealing with the internal forces inherent in such systems.
Proceedings ArticleDOI
Design of the Utah/M.I.T. Dextrous Hand
TL;DR: The Center for Engineering Design at the University of Utah, and the Artificial Intelligence Laboratory at the Massachusetts Institute of Technology have developed a robotic end effector intended to function as a general purpose research tool for the study of machine dexterity.
Journal ArticleDOI
Stick slip and control in low-speed motion
TL;DR: Dimensional and perturbation analysis are applied to the problem of stick slip encountered during the motion of machines and predicts the onset of stick Slip as a function of plant and controller parameters.
Dissertation
The Effect of Transmission Design on Force-Controlled Manipulator Performance.
TL;DR: In this article, a set of requisites for good performance, analyzes the effects of transmission-mechanism properties on force-controlled manipulators, and recommends mechanical-design strategies to improve performance.