Tendon-based transmission systems for robotic devices: Models and control algorithms

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2009, Pages 4063-4068

  Palli, G ^a   Borghesan, G ^a   Melchiorri, C ^a  

^a UNIVERSITY OF BOLOGNA   (Italy)

Author keywords

Force control; Friction compensation; Nonlinear systems; Robotic fingers; Tendon transmission

Indexed keywords

COMPENSATION SCHEME; CONTROL ALGORITHMS; CONTROL LAWS; DRIVING SYSTEMS; EXPERIMENTAL SETUP; FINGER JOINTS; FORCE DISTRIBUTIONS; FRICTION COMPENSATION; MECHANICAL DESIGN; NON-LINEARITY; NONLINEAR EFFECT; PERFORMANCE LEVEL; ROBOTIC DEVICES; ROBOTIC FINGER; ROBOTIC FINGERS; SLIDING MODE CONTROLLER; TENDON TENSION; TRANSMISSION SYSTEMS;

CONTROL NONLINEARITIES; FORCE CONTROL; MATHEMATICAL MODELS; NONLINEAR OPTICS; NONLINEAR SYSTEMS; ROBOTIC ARMS; ROBOTICS; ROUTING ALGORITHMS; STICTION; TRANSMISSIONS; TRIBOLOGY;

TENDONS;

EID: 70350370295     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2009.5152491     Document Type: Conference Paper

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