Composite Controller for Antagonistic Tendon Driven Joints With Elastic Tendons and Its Experimental Verification
In this paper, we present the dynamic modeling and controller design of a tendon-driven system that is antagonistically driven by elastic tendons. In the dynamic modeling, the tendons are approximated as linear axial springs, neglecting their masses. An overall equation for motion is established by...
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| Veröffentlicht in: | IEEE access 2018-01, Vol.6, p.5215-5226 |
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| creator | Shoaib, Muhammad Cheong, Joono Park, Dongil Park, Chanhun |
| description | In this paper, we present the dynamic modeling and controller design of a tendon-driven system that is antagonistically driven by elastic tendons. In the dynamic modeling, the tendons are approximated as linear axial springs, neglecting their masses. An overall equation for motion is established by following the Euler-Lagrange formalism of dynamics, combined with rigid-body rotation and vibration. The controller is designed using the singular perturbation approach, which leads to a composite controller (i.e., consisting of a fast sub-controller and a slow sub-controller). An appropriate internal force is superposed to the control action to ensure the tendons to be in tension for all configurations. Experimental results are provided to demonstrate the validity and effectiveness of the proposed controller for the antagonistic tendon-driven system. |
| doi_str_mv | 10.1109/ACCESS.2017.2787839 |
| format | Article |
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In the dynamic modeling, the tendons are approximated as linear axial springs, neglecting their masses. An overall equation for motion is established by following the Euler-Lagrange formalism of dynamics, combined with rigid-body rotation and vibration. The controller is designed using the singular perturbation approach, which leads to a composite controller (i.e., consisting of a fast sub-controller and a slow sub-controller). An appropriate internal force is superposed to the control action to ensure the tendons to be in tension for all configurations. Experimental results are provided to demonstrate the validity and effectiveness of the proposed controller for the antagonistic tendon-driven system.</description><identifier>ISSN: 2169-3536</identifier><identifier>EISSN: 2169-3536</identifier><identifier>DOI: 10.1109/ACCESS.2017.2787839</identifier><identifier>CODEN: IAECCG</identifier><language>eng</language><publisher>Piscataway: IEEE</publisher><subject>antagonistic actuation ; composite controller ; Control systems design ; Controllers ; Dynamic models ; Dynamics ; Force ; Internal forces ; Joints ; Mathematical model ; Modelling ; Perturbation methods ; Robots ; Rotating bodies ; Singular perturbation ; singular perturbation approach ; Springs (elastic) ; Tendon-driven system ; Tendons</subject><ispartof>IEEE access, 2018-01, Vol.6, p.5215-5226</ispartof><rights>Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2018</rights><lds50>peer_reviewed</lds50><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c408t-f2374d55d74fa787d47e8fad207e0c2e94aede030605b8f90c6a750afa75f7cc3</citedby><cites>FETCH-LOGICAL-c408t-f2374d55d74fa787d47e8fad207e0c2e94aede030605b8f90c6a750afa75f7cc3</cites><orcidid>0000-0001-8241-014X</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/8241375$$EHTML$$P50$$Gieee$$Hfree_for_read</linktohtml><link.rule.ids>314,780,784,864,2101,27632,27923,27924,54932</link.rule.ids></links><search><creatorcontrib>Shoaib, Muhammad</creatorcontrib><creatorcontrib>Cheong, Joono</creatorcontrib><creatorcontrib>Park, Dongil</creatorcontrib><creatorcontrib>Park, Chanhun</creatorcontrib><title>Composite Controller for Antagonistic Tendon Driven Joints With Elastic Tendons and Its Experimental Verification</title><title>IEEE access</title><addtitle>Access</addtitle><description>In this paper, we present the dynamic modeling and controller design of a tendon-driven system that is antagonistically driven by elastic tendons. 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Experimental results are provided to demonstrate the validity and effectiveness of the proposed controller for the antagonistic tendon-driven system.</description><subject>antagonistic actuation</subject><subject>composite controller</subject><subject>Control systems design</subject><subject>Controllers</subject><subject>Dynamic models</subject><subject>Dynamics</subject><subject>Force</subject><subject>Internal forces</subject><subject>Joints</subject><subject>Mathematical model</subject><subject>Modelling</subject><subject>Perturbation methods</subject><subject>Robots</subject><subject>Rotating bodies</subject><subject>Singular perturbation</subject><subject>singular perturbation approach</subject><subject>Springs (elastic)</subject><subject>Tendon-driven system</subject><subject>Tendons</subject><issn>2169-3536</issn><issn>2169-3536</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2018</creationdate><recordtype>article</recordtype><sourceid>ESBDL</sourceid><sourceid>RIE</sourceid><sourceid>DOA</sourceid><recordid>eNpNUcFuGyEQXVWpVCv1F_iClLMdWGBhj9bWbVxF6iFue0QYBgdrAw6QKvn74G4UZS4zGt5789BrmgXBK0Jwf70ehs3d3arFRKxaIYWk_adm1pKuX1JOu4sP85dmnvMR15J1xcWseRziwylmXwANMZQUxxEScjGhdSj6EIPPxRu0g2BjQN-S_wcB_Yw-lIz--nKPNqP-gMhIB4u29XHzfILkH6CqjOhPHZ03uvgYvjafnR4zzN_6ZfP7-2Y33Cxvf_3YDuvbpWFYlqVrqWCWcyuY0_VXlgmQTtsWC8CmhZ5psIAp7jDfS9dj02nBsa5g7oQx9LLZTro26qM6VS86vaiovfq_iOmgdKrOR1BACXTAJN0bYJpDvdfZngCjBu-B2ap1NWmdUnx8glzUMT6lUO2rlnEuucA9ryg6oUyKOSdw71cJVueo1BSVOkel3qKqrMXE8gDwzpAtI1Rw-gq2T5HJ</recordid><startdate>20180101</startdate><enddate>20180101</enddate><creator>Shoaib, Muhammad</creator><creator>Cheong, Joono</creator><creator>Park, Dongil</creator><creator>Park, Chanhun</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. 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| subjects | antagonistic actuation composite controller Control systems design Controllers Dynamic models Dynamics Force Internal forces Joints Mathematical model Modelling Perturbation methods Robots Rotating bodies Singular perturbation singular perturbation approach Springs (elastic) Tendon-driven system Tendons |
| title | Composite Controller for Antagonistic Tendon Driven Joints With Elastic Tendons and Its Experimental Verification |
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