TENSION DISTRIBUTION IN A TENDON-DRIVEN ROBOTIC FINGER
First Claim
8. A robotic system comprising:
- a robot having at least one tendon-driven finger characterized by n degrees of freedom and n+1 tendons; and
a controller having an algorithm for controlling the n+1 tendons;
wherein the algorithm is adapted for;
determining a maximum functional tension and a minimum functional tension of the tendon-driven finger; and
automatically distributing tension among the n+1 tendons, such that each tendon is assigned a tension value that is less than the maximum functional tension and greater than or equal to the minimum functional tension.
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Abstract
A method is provided for distributing tension among tendons of a tendon-driven finger in a robotic system, wherein the finger characterized by n degrees of freedom and n+1 tendons. The method includes determining a maximum functional tension and a minimum functional tension of each tendon of the finger, and then using a controller to distribute tension among the tendons, such that each tendon is assigned a tension value less than the maximum functional tension and greater than or equal to the minimum functional tension. The method satisfies the minimum functional tension while minimizing the internal tension in the robotic system, and satisfies the maximum functional tension without introducing a coupled disturbance to the joint torques. A robotic system includes a robot having at least one tendon-driven finger characterized by n degrees of freedom and n+1 tendons, and a controller having an algorithm for controlling the tendons as set forth above.
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Citations
17 Claims
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8. A robotic system comprising:
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a robot having at least one tendon-driven finger characterized by n degrees of freedom and n+1 tendons; and a controller having an algorithm for controlling the n+1 tendons; wherein the algorithm is adapted for; determining a maximum functional tension and a minimum functional tension of the tendon-driven finger; and automatically distributing tension among the n+1 tendons, such that each tendon is assigned a tension value that is less than the maximum functional tension and greater than or equal to the minimum functional tension. - View Dependent Claims (1, 2, 3, 4, 5, 6, 7, 9, 10, 11, 12)
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11-1. The robotic system of claim 8, wherein n=3.
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13. A controller for a tendon-driven robotic finger having n degrees of freedom, the tendon-driven finger comprising n+1 tendons, wherein the controller includes an algorithm adapted for:
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determining a maximum functional tension and a minimum functional tension of the tendon-driven finger; and automatically distributing tension among the n+1 tendons, such that each tendon is assigned a tension value that is less than the maximum functional tension and greater than or equal to the minimum functional tension.
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14. The controller of claim 14, wherein the algorithm is adapted to automatically distribute tension by:
- calculating a linear scaling of joint torques of each of a plurality of joints of the tendon-driven finger to find a scaled solution.
- View Dependent Claims (16, 17)
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15. The controller of claim 15, further comprising:
- iterating the scaled solution if the tension value exceeds the maximum functional tension.
Specification