Abstract
This paper presents a new precision control algorithm for the antagonistic tendon-driven joint (TDJ) which has human-like structure. The antagonistic TDJ mechanism has the flexibility of joints by properties of the tendon and mechanical uncertainties by its complex structure, which renders it difficult to control the TDJ mechanism. In order to deal with this difficulty in control, we perform modeling of the TDJ and propose a new control method which enables high precision operation by compensating for mechanical uncertainties. We verify the effectiveness of the proposed control method by extensive experimental tests to our developed TDJ manipulator system.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
