DocumentCode :
2335149
Title :
Articulated structures with tendon actuation for whole-limb manipulation
Author :
Petreschi, Paolo ; Prattichizzo, Domenico ; Bicchi, Antonio
Author_Institution :
Centro E Piaggio, Pisa Univ., Italy
fYear :
1994
fDate :
8-13 May 1994
Firstpage :
868
Abstract :
We present a general framework for the modelling of a class of mechanical systems for robotic manipulation, consisting of articulated limbs with redundant tendinous actuation and unilateral constraints. Such systems, that include biomorphically designed devices, are regarded as a collection of rigid bodies, interacting through connections that model both joints and contacts with virtual springs. Methods previously developed for the analysis of force distribution in multiple whole-limb manipulation are generalised to this broader class of mechanisms, and are shown to provide a basis for the control of co-contraction and internal forces that guarantee proper operation of the system
Keywords :
force control; manipulators; mechanical engineering; articulated limbs; internal force control; mechanical systems; modelling; multiple whole-limb manipulation; rigid bodies; robotic manipulation; tendon actuation; virtual springs; whole-limb manipulation; Actuators; Animal structures; Biological system modeling; Cables; Friction; Joints; Kinematics; Mechanical systems; Robots; Tendons;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
Type :
conf
DOI :
10.1109/ROBOT.1994.351380
Filename :
351380
Link To Document :
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