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Modeling and control of an antagonistically actuated tendon driven anthropomorphic hand

Chalon, Maxime (2013) Modeling and control of an antagonistically actuated tendon driven anthropomorphic hand. Dissertation, Mines ParisTech.

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Abstract

Abstract: One of the major limitations of object manipulation with a robotic hand is the fragility of the hardware. This is one of the motivations for developing the new anthropomorphic and extremely robust Hand Arm System at the robotics and mecatronics center of DLR. The system is unique in terms of complexity, with 52 motors and more than 200 sensors, and also in terms of dynamics. Indeed, the system is mechanically compliant, thus offers the possibility to store and release energy, thereby providing two essential functions: The impacts are filtered and the dynamics are enhanced. This thesis focuses on the hand. It has 19 degrees of freedom, each being actuated by two flexible antagonistic tendons. Because the stiffnes of the tendons is not linear, it is possible to adjust the mechanical stiffness of the joints, similar to the co-contraction of human muscles, in order to adapt to a task. However, the stiffness adjustability rises new challenges in modeling and control. The state of the art usually focuses on the problems of tendon-driven systems or flexible joint robots but seldomly both simultaneously. In the first part, the modeling of the hand and the wrist is conducted. Several problems specific to tendon-driven systems are presented, such as the coupling matrices and the joint position estimation based on the tendon displacement. The second part focuses on the control of a single joint actuated by two flexible tendons. The distribution of the tendon forces and the correction of the effective stiffness are reported. Linear and nonlinear approaches are used and multiple experiments are realised to compare them. The major result is that the backstepping, a nonlinear control method,

Item URL in elib:https://elib.dlr.de/112353/
Document Type:Thesis (Dissertation)
Title:Modeling and control of an antagonistically actuated tendon driven anthropomorphic hand
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Chalon, Maximemaxime.chalon (at) dlr.deUNSPECIFIED
Date:September 2013
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Number of Pages:229
Status:Published
Keywords:Robotic modeling, anthropomorphic hand, tendon-driven system, flexible joint control, nonlinear control, applied control.
Institution:Mines ParisTech
Department:Mathematics and systems
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Chalon, Maxime
Deposited On:19 May 2017 14:40
Last Modified:31 Jul 2019 20:09

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