Torque Resolver Design for Tendon-Driven Manipulators

[+] Author and Article Information
Jyh-Jone Lee, Lung-Wen Tsai

Mechanical Engineering Department and Systems Research Center, The University of Maryland, College Park, MD 20742

J. Mech. Des 115(4), 877-883 (Dec 01, 1993) (7 pages) doi:10.1115/1.2919282 History: Received May 01, 1991; Online June 02, 2008


Given a set of desired joint torques in an n -DOF tendon-driven manipulator with n + 1 control tendons, the determination of tendon forces is an indeterminate problem. Usually, the pseudo-inverse technique is used to solve for such a problem. In this paper, rather than using the pseudo-inverse technique, an efficient methodology for transforming joint torques (n elements) to motor torques (n + 1 elements) has been developed. This technique, called “torque resolver,” utilizes two circuit-like operators to transform torques between the two different vector spaces. It can be easily programmed on a digital computer or implemented into an analog-circuit system. It is hoped that this technique will make real-time computed-torque control feasible. The technique has been demonstrated through the dynamic simulation of a three-DOF manipulator.

Copyright © 1993 by The American Society of Mechanical Engineers
Topics: Torque , Design , Manipulators
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