제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

Control of tendon driven one-link manipulator

  • Choi, H.R. (Robotics Lab., Department of Mechanical Engineering, Pohang Institute of Science and Technology, Pohang P.O.Box 125, 790-600) ;
  • Lee, Y.T. (Robotics Lab., Department of Mechanical Engineering, Pohang Institute of Science and Technology, Pohang P.O.Box 125, 790-600) ;
  • Kim, J.H. (Robotics Lab., Department of Mechanical Engineering, Pohang Institute of Science and Technology, Pohang P.O.Box 125, 790-600) ;
  • Chung, W.K. (Robotics Lab., Department of Mechanical Engineering, Pohang Institute of Science and Technology, Pohang P.O.Box 125, 790-600) ;
  • Youm, Y. (Robotics Lab., Department of Mechanical Engineering, Pohang Institute of Science and Technology, Pohang P.O.Box 125, 790-600)
  • Published : 1992.10.01
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Abstract

Tendon driven method to drive one joint using two actuators is developed and implemented. While the method has advantages over conventional transmissions, it also has several drawbacks like tendon slack, elongation and endurability. In this paper, a compensation method of the intrinsic non-linearities of tendon is proposed to improve the performance of antagonistic tendon driven method. In this method, tendon tension measurement is prerequisite which is measured with strain gauge type tension sensor. The developed method is implemented on one link test bed with colocated and non-colocated position sensor.

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