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Decoupled Control of Position and / or Force of Tendon Driven Fingers

Lange, Friedrich and Quere, Gabriel and Raffin, Antonin (2019) Decoupled Control of Position and / or Force of Tendon Driven Fingers. In: IEEE International Conference on Robotics and Automation ICRA, pp. 1176-1182. 2019 IEEE Int. Conf. on Robotics and Automation (ICRA), 20.-24. Mai 2019, Montreal, Canada.

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In contrast to underactuated robotic hands the DLR AWIWI II hand of the David robot is fully controllable because each finger with 4 joints is actuated by 6 or 8 tendons respectively. For such fingers all joint angles (generalized positions) or joint torques (generalized forces) can be controlled independently. Usually, the specifications in joint space are converted to desired tendon forces or motor torques, which are regulated by an inner loop impedance controller. However, this conversion typically exhibits couplings between the components of the joint angle vector or the joint torque vector respectively, which arise when using the well known equations. Therefore the usual force control and position control schemes are reviewed and a generic computation of the desired tendon forces is presented. This is also done for the control of the Cartesian position and force at the finger endpoint. Thus the main contribution of the paper is the inhibition of couplings in joint space or at the Cartesian endpoint. This is demonstrated in simulations of the index finger of the DLR David hand.

Item URL in elib:https://elib.dlr.de/128252/
Document Type:Conference or Workshop Item (Poster)
Title:Decoupled Control of Position and / or Force of Tendon Driven Fingers
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Lange, FriedrichFriedrich.Lange (at) dlr.deUNSPECIFIED
Quere, GabrielGabriel.Quere (at) dlr.deUNSPECIFIED
Raffin, AntoninAntonin.Raffin (at) dlr.deUNSPECIFIED
Date:20 May 2019
Journal or Publication Title:IEEE International Conference on Robotics and Automation ICRA
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 1176-1182
Keywords:Tendon/Wire Mechanism; Multifingered Hands
Event Title:2019 IEEE Int. Conf. on Robotics and Automation (ICRA)
Event Location:Montreal, Canada
Event Type:international Conference
Event Dates:20.-24. Mai 2019
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 Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics
Deposited By: Lange, Dr.-Ing. Friedrich
Deposited On:08 Jul 2019 12:06
Last Modified:31 Jul 2019 20:25

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