Torque Resolver Design for Tendon-Driven Manipulators
| dc.contributor.author | Lee, Jyh-Jone | en_US |
| dc.contributor.author | Tsai, L.W. | en_US |
| dc.contributor.department | ISR | en_US |
| dc.date.accessioned | 2007-05-23T09:48:05Z | |
| dc.date.available | 2007-05-23T09:48:05Z | |
| dc.date.issued | 1991 | en_US |
| dc.description.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. | en_US |
| dc.format.extent | 774560 bytes | |
| dc.format.mimetype | application/pdf | |
| dc.identifier.uri | http://hdl.handle.net/1903/5100 | |
| dc.language.iso | en_US | en_US |
| dc.relation.ispartofseries | ISR; TR 1991-52 | en_US |
| dc.subject | robotics | en_US |
| dc.subject | Intelligent Servomechanisms | en_US |
| dc.title | Torque Resolver Design for Tendon-Driven Manipulators | en_US |
| dc.type | Technical Report | en_US |
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