Mechanism and Position Tracking Control of a Robotic Manipulator Actuated by the Tendon-Sheath
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Mechanism and Position Tracking Control of a Robotic Manipulator Actuated by the Tendon-Sheath Meng Yin 1,2,3
&
Zhigang Xu 1,2 & Zhiliang Zhao 1,2,4 & Haoting Wu 1,2,4
Received: 5 March 2020 / Accepted: 11 August 2020 # Springer Nature B.V. 2020
Abstract To achieve a manipulator that is lighter and more anthropomorphic, a 7-DOF robotic manipulator driven by the tendon-sheath is designed. Its mechanical system and control system are both introduced in this paper. An encoder is installed on both the driver side and the joint side to realize double closed-loop control. Considering the transmission characteristics of the reducer and the tendon-sheath, a position transmission model of a single joint is constructed. Furthermore, the correctness of the transmission model is verified based on the prototype joint four. A proportional-integral-differential (PID) controller and fuzzy PID controller with time-delay estimation (TDE) are designed based on double encoders, and some experiments on the position tracking control are carried out for the robotic joints. The experimental results show that each joint can rotate normally and there is no interference between the different tendon-sheaths. When the drive motor moves to follow the position command of the sinusoidal signal, the TDE-based fuzzy PID controller can reduce the maximum tracking error compared with the traditional PID controller. According to the experimental results, it is feasible to apply the tendon-sheath transmission to the manipulator, which provides a reference for the development of other equipment based on the tendon-sheath. Keywords Tendon-sheath transmission . Robotic manipulator . Position tracking . Fuzzy PID control . Time-delay estimation
1 Introduction The tendon-sheath, also known as the ‘Bowden cable’, is mainly composed of the internal flexible tendon and the external sheath. The typical analogy is the brake line of a bicycle. The tendon-sheath can realize the long-distance transmission of force and displacement through movement of the flexible cable in the sleeve. It has the advantages of a simple structure,
Electronic supplementary material The online version of this article (https://doi.org/10.1007/s10846-020-01245-6) contains supplementary material, which is available to authorized users. * Meng Yin [email protected] 1
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2
Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
3
University of Chinese Academy of Sciences, Beijing 100049, China
4
School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110169, China
strong space adaptability and a low design cost; thus, it is widely used in the field of robotics. According to the size of the joint volume, the existing applications of the tendon-sheath transmission can be divided into two categories. One includes the applications related to the dexterous hand and surgical robot, which are
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