注意：具有高柔顺性扭线驱动器（TSA）的对抗式机器人关节的位置/扭矩控制。

Note: Position/torque control of antagonistic robot joint with high-compliant twisted string actuators (TSAs).

作者信息

Park Jihyuk, Kim Ji-Chul, Kim Kyung-Soo, Kim Soohyun

机构信息

Department of Mechanical Engineering, KAIST, Daejeon 305-701, South Korea.

出版信息

Rev Sci Instrum. 2016 Dec;87(12):126107. doi: 10.1063/1.4962939.

DOI:10.1063/1.4962939

PMID:28040912

Abstract

A tendon-driven robot joint that has a low inertia compared with a conventional drive system is proposed. The robot joint displaces the drive system toward the robot base, and it is driven by twisted string actuators (TSAs), which are a substitute for the conventional heavy drive system. The design of the proposed robot joint is based on an antagonistic scheme that is actuated by two motors. The torques from the motors are transmitted to the robot joint through the TSAs. Based on the geometric analysis of TSAs, strategies for position and torque control are proposed for an antagonistic robot joint driven by TSAs. To verify the proposed control strategies, several control experiments are conducted using a developed prototype of a robot joint.

摘要

提出了一种与传统驱动系统相比具有低惯性的腱驱动机器人关节。该机器人关节将驱动系统向机器人基座方向移动，并且由扭转弦驱动器（TSA）驱动，扭转弦驱动器是传统重型驱动系统的替代品。所提出的机器人关节的设计基于由两个电机驱动的对抗方案。电机的扭矩通过扭转弦驱动器传递到机器人关节。基于扭转弦驱动器的几何分析，针对由扭转弦驱动器驱动的对抗式机器人关节提出了位置和扭矩控制策略。为了验证所提出的控制策略，使用开发的机器人关节原型进行了几次控制实验。