The use of tendons for the transmission of the forces and the movements in robotic devices
has been investigated from several researchers all over the world. The interest in
this kind of actuation modality is based on the possibility of optimizing the position of
the actuators with respect to the moving part of the robot, in the reduced weight, high reliability,
simplicity in the mechanic design and, finally, in the reduced cost of the resulting
kinematic chain.
After a brief discussion about the benefits that the use of tendons can introduce in
the motion control of a robotic device, the design and control aspects of the UB Hand 3
anthropomorphic robotic hand are presented. In particular, the tendon-sheaths transmission
system adopted in the UB Hand 3 is analyzed and the problem of force control and
friction compensation is taken into account.
The implementation of a tendon based antagonistic actuated robotic arm is then investigated.
With this kind of actuation modality, and by using transmission elements with
nonlinear force/compression characteristic, it is possible to achieve simultaneous stiffness
and position control, improving in this way the safety of the device during the operation
in unknown environments and in the case of interaction with other robots or with humans.
The problem of modeling and control of this type of robotic devices is then considered
and the stability analysis of proposed controller is reported.
At the end, some tools for the realtime simulation of dynamic systems are presented.
This realtime simulation environment has been developed with the aim of improving the
reliability of the realtime control applications both for rapid prototyping of controllers
and as teaching tools for the automatic control courses.
| Identifer | oai:union.ndltd.org:unibo.it/oai:amsdottorato.cib.unibo.it:341 |
| Date | 29 May 2007 |
| Creators | Palli, Gianluca <1977> |
| Contributors | Melchiorri, Claudio |
| Publisher | Alma Mater Studiorum - Università di Bologna |
| Source Sets | Università di Bologna |
| Language | English |
| Detected Language | English |
| Type | Doctoral Thesis, PeerReviewed |
| Format | application/pdf |
| Rights | info:eu-repo/semantics/openAccess |
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