Compliant Control of Single Tendon-Sheath Actuators Applied to a Robotic Manipulator

Compliant Control of Single Tendon-Sheath Actuators Applied to a Robotic Manipulator

Tendon-sheath actuators (TSAs), similar to Bowden cable-based series elastic actuators (SEAs), have a wide range of applications in robots. However, when applying them to manipulators, force sensors cannot be mounted due to limited space. Therefore, this paper proposes a new method for compliant con...

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Bibliographic Details
Main Authors: Meng Yin, Haoting Wu, Zhigang Xu, Wei Han, Zhiliang Zhao
Format: Article
Language:English
Published: IEEE 2020-01-01
Series:IEEE Access
Subjects:
Tendon-sheath actuators
robotic manipulator
compliant control
position transmission model
parameter identifications
series elastic actuators
Online Access:https://ieeexplore.ieee.org/document/8995563/

Internet

https://ieeexplore.ieee.org/document/8995563/

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