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Palli G. , Melchiorri C.
"Optimal control of tendon-sheath transmission systems"
Type Conference
Author(s) Palli G. , Melchiorri C.
Title Optimal control of tendon-sheath transmission systems
Editor SYROCO2006, 8th International IFAC Symposium on Robot Control, Bologna, Italy, September 6-8, 2006.
Keywords Tendon-sheath transmission, friction compensation, tension control, optimal control, robotic hand.
In this paper, the tendon-sheath driving system for a robotic hand is discussed and its force transmission characteristic analyzed. The use of tendons permits to reduce the size and the complexity of the actuation chain in many mechanical devices but, on the other hand, introduces some side effects that must be taken into account in the design of the controller of the transmission system. A simple dynamical model, useful for both anaylsis and control design purposes, that describes the tendon-sheath driving system is presented and discussed. Then, its main properties are illustrated, and a comparison with both simulation results of a lumped parameters model of the tendon and with experimental results is presented. The described model is non linear because of the effects of friction between the tendon and the sheath. Finally, a suitable optimal controller is designed to reduce the effects of the friction.
Document 0cae.Document.pdf (868073 bytes)
Year 2006

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