Control and virtual reality simulation of tendon driven mechanisms

In this paper the authors present a control strategy for tendon driven mechanisms. The aim of the control system is to find the correct torques which the motors have to exert to make the end effector describe a specific trajectory. In robotic assemblies this problem is often solved with closed loop algorithm, but here a simpler method, based on a open loop strategy, is developed. The difficulties in the actuation are in keeping the belt tight during all working conditions. So an innovative solution of this problem is presented here. This methodology can be easily applied in real time monitoring or very fast operations. For this reason several virtual reality simulations, developed using codes written in Virtual Reality Markup Language, are also presented. This approach is very efficient because it requires a very low cpu computation time, small size files, and the manipulator can be easily put into different simulated scenarios

Development and Testing of an Actively Adjustable Stiffness Mechanism

This study presents the comparison of the theoretical and experimental results of the performance of an adjustable stiffness mechanism. In particular, the use of redundant actuation is emphasized in the design of a one degree-of-freedom Watt II mechanism capable of independently controlling the effective stiffness without a change in equilibrium position. This approach is in contrast to spring mechanism designs unable to actively control the spring rate independent of deflection, and with potential applications in various types of suspension and assembly systems. Results indicate that two direct drive brush-type direct current motors are required to drive the redundantly actuated mechanism and create a system that behaves as an adjustable stiffness spring

Design and Experimental Evaluation of a Tendon-Driven Minimally Invasive Surgical Robotic Tool with Antagonistic Control

The design, implementation and experimental evaluation of a minimally invasive surgical robotic instrument is presented in this article. The tool is constructed using rapid prototyping techniques and each degree-of-freedom is actuated via an antagonistic tendon driven mechanism using servo motors. The accompanying software runs under the Robot Operating System framework. The kinematics of the tool are discussed and the efficiency of the system is investigated in experimental studies, which are showcased in order to assess its potential use in a clinical environment

Two dimensional agonistic control

The conventional method of precise multiple-axis motion control entails use of a multiple axis positioning system with each axis carrying not only the workpiece but also the positioning system of the remaining axes. The resultant structure is heavy, sluggish, and expensive. An alternative positioning technique is being investigated in which the motion of the workpiece is controlled by pulling it with tendons, each of which has its own actuator. Since the actuators can be mounted on the base of the structure instead of being carried by motion system of the other axes, they can be relatively large and powerful without the need for a massive structure such as is found in a conventional motion control system. This method of control is given the appellation agonistic, based on the usages of the word suggesting tension or a contest. Agonistic control system can be used for low cost accurate positioning of workpiece. The control task can be moving the workpiece from one point to another point and kept there or tracking a given trajectory. While the workpiece moves, the tendons should be always kept in tension. In this thesis, the model of two dimensional agonistic control (in the case of tendons of infinite elastic modulus) is established. It leads to a nonlinear multi-variable control problem. Based on this nonlinear model, a full-state feedback control law is synthesized. It is composed of two parts. The first part is a feedforward control to cancel the nonlinear dynamics. The second part is a PD control term which requires velocity information. In the practice, velocity measurement may be contaminated by noise. In order of only using position measurement in the control law, a nonlinear observer is designed to provide the velocity information. Numerical simulation is performed to verify the ability of the proposed control law. In reality, the tendon has some elasticity. This finite elasticity, if not accounted for, can render the closed-loop system unstable. The investigation shows that the effect of elastic tendons can be compensated for by appropriately modifying the control law designed for inelastic tendons. In particular, the control law is synthesized using the singular perturbation method. It consists of a fast control and a slow control. The fast control is used to stablize the oscillations incurred by the finite elasticity of the tendon. The slow control drives the system to track the desired trajectory. Robustness of the controller is enhanced by using sliding mode control. In the chapter 4, the design of observer in the elastic case is addressed. Linear uncertain system theory is used. The observer is globally stable. The use of decentralized control scheme makes very simple the controller design and reduces the computational complexity. It is very useful for real time agonistic control. A design approach is presented for the decentralized control scheme. A simple linear second order model is used instead of complex nonlinear model used in centralized version. In this approach, the tension in each tendon is treated as disturbance, estimated by an observer, to be compensated

Design and implementation of an actively adjustable spring mechanism via redundant actuation

This study presents the theoretical results and experimental validation of an adjustable stiffness mechanism. The use of redundant actuation is emphasized in the design of a one-degree-of-freedom Watt II mechanism capable of independently controlling the effective stiffness without a change in equilibrium position. This approach is in contrast to previous spring mechanism designs unable to actively control the spring rate independent of deflection, and has potential applications in various types of suspension and assembly systems. Results indicate that driving the redundantly actuated, unidirectional, spring mechanism requires attaching two direct brush-type direct current motors on each of the two grounded revolute joints, and that the concept of adjustable springs has proven to be valid regardless of the friction effects. The torques are controlled with corresponding power amplifiers which incorporate current control loops, and the effective stiffness of the system is dependent on the redundant actuator torques of the motors