发明授权
US08489239B2 Robust operation of tendon-driven robot fingers using force and position-based control laws
有权
使用强力和基于位置的控制规律对肌腱驱动的机器人手指进行稳健的操作
- 专利标题： Robust operation of tendon-driven robot fingers using force and position-based control laws
- 专利标题（中）： 使用强力和基于位置的控制规律对肌腱驱动的机器人手指进行稳健的操作
-
申请号： US12916803申请日： 2010-11-01
-
公开(公告)号： US08489239B2公开(公告)日： 2013-07-16
- 发明人: Muhammad E Abdallah , Robert J. Platt, Jr. , Matthew J Reiland , Brian Hargrave , Myron A Diftler , Philip A Strawser , Chris A. Ihrke
- 申请人： Muhammad E Abdallah , Robert J. Platt, Jr. , Matthew J Reiland , Brian Hargrave , Myron A Diftler , Philip A Strawser , Chris A. Ihrke
- 申请人地址： US MI Detroit US DC Washington
- 专利权人： GM Global Technology Operations LLC,The United States of America as Represented by the Administrator of the National Aeronautics and Space Administration
- 当前专利权人： GM Global Technology Operations LLC,The United States of America as Represented by the Administrator of the National Aeronautics and Space Administration
- 当前专利权人地址： US MI Detroit US DC Washington
- 代理机构： Quinn Law Group, PLLC
- 主分类号： G06F19/00
- IPC分类号： G06F19/00 ; G05B15/00 ; G05B19/00
摘要：
A robotic system includes a tendon-driven finger and a control system. The system controls the finger via a force-based control law when a tension sensor is available, and via a position-based control law when a sensor is not available. Multiple tendons may each have a corresponding sensor. The system selectively injects a compliance value into the position-based control law when only some sensors are available. A control system includes a host machine and a non-transitory computer-readable medium having a control process, which is executed by the host machine to control the finger via the force- or position-based control law. A method for controlling the finger includes determining the availability of a tension sensor(s), and selectively controlling the finger, using the control system, via the force or position-based control law. The position control law allows the control system to resist disturbances while nominally maintaining the initial state of internal tendon tensions.