腱制御手首機構の機構特性と制御に関する研究

抄録

A tendon-controlled mechanism has more actuators than its degrees of freedom. The redundancy enables us to reduce mechanical backlash, avoid near zero tendon forces, where the control accuracy goes down, and adjust the mechanical compliance at the expense of some cancellationn of torques. Thus the tendon-controlled mechanism could be more flexible and adaptable to complicated tasks in a unconstructed environment.
This paper describes a tendon-controlled 3 DOF wrist mechanism with four tendons. First a relationship between a joint space and a tendon space is derived. Then, the joint accessible space, where any joint torque is generated by tensile tendon forces only, and the manipulability of the wrist are analyzed. Tendon forces for desired joint torques are determined by a linear optimization problem solution.
Funally simulations and experiments are given to show the efficiency of the compliance control of the tendon controlled wrist mechanism.