Paper Info
Title
Preliminary Research On Force Transmission Characteristic And Control Of Tendon Sheath Actuation
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.
Year
Venue
Field
2017
2017 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)
Transmission (mechanics),Nonlinear system,Control theory,Tendon sheath,Mean squared error,Control engineering,Root mean square,Engineering,Power transmission,Robot,Sliding mode control
DocType
ISSN
Citations 
Conference
2474-2317
0
PageRank 
References 
Authors
0.34
0
2
Name
Order
Citations
PageRank
Qingcong Wu1115.02
Xingsong Wang214117.12