1 research outputs found
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