Model and control of tendon actuated robots

Palli, Gianluca (2007) Model and control of tendon actuated robots, [Dissertation thesis], Alma Mater Studiorum Università di Bologna. Dottorato di ricerca in Automatica e ricerca operativa, 19 Ciclo. DOI 10.6092/unibo/amsdottorato/341.
Documenti full-text disponibili:
Documento PDF (English) - Richiede un lettore di PDF come Xpdf o Adobe Acrobat Reader
Download (4MB) | Anteprima


The use of tendons for the transmission of the forces and the movements in robotic devices has been investigated from several researchers all over the world. The interest in this kind of actuation modality is based on the possibility of optimizing the position of the actuators with respect to the moving part of the robot, in the reduced weight, high reliability, simplicity in the mechanic design and, finally, in the reduced cost of the resulting kinematic chain. After a brief discussion about the benefits that the use of tendons can introduce in the motion control of a robotic device, the design and control aspects of the UB Hand 3 anthropomorphic robotic hand are presented. In particular, the tendon-sheaths transmission system adopted in the UB Hand 3 is analyzed and the problem of force control and friction compensation is taken into account. The implementation of a tendon based antagonistic actuated robotic arm is then investigated. With this kind of actuation modality, and by using transmission elements with nonlinear force/compression characteristic, it is possible to achieve simultaneous stiffness and position control, improving in this way the safety of the device during the operation in unknown environments and in the case of interaction with other robots or with humans. The problem of modeling and control of this type of robotic devices is then considered and the stability analysis of proposed controller is reported. At the end, some tools for the realtime simulation of dynamic systems are presented. This realtime simulation environment has been developed with the aim of improving the reliability of the realtime control applications both for rapid prototyping of controllers and as teaching tools for the automatic control courses.

Tipologia del documento
Tesi di dottorato
Palli, Gianluca
Dottorato di ricerca
Settore disciplinare
Settore concorsuale
Parole chiave
Tendon actuation Robotic hands Antagonistic actuation Variable stiffness Realtime control
Data di discussione
29 Maggio 2007

Altri metadati

Statistica sui download

Gestione del documento: Visualizza la tesi