Torque Resolver Design for Tendon-Driven Manipulators

Abstract

Given desired joint torques in an n-DOF tendon-driven manipulator with n +1 control tendons, the determination of tendon forces is an indeterminate problem. Usually, the pseudo-inverse technique can be used to solve for such a problem. In this paper, rather than using the pseudo-inverse technique, an efficient methodology for transforming joint torques (n elements) to motor torques (n + 1 elements) has developed. This technique, called "torque resolver", utilizes two circuit-like operators to transform torques between two different vector spaces. It can be easily programmed on a digital computer or implemented into an analog- circuit system. It is hoped that this technique will make real- time control using computed torque method feasible. The technique has been demonstrated through the dynamic simulation of a three- DOF manipulator.