公开(公告)号：US08412376B2

公开(公告)日：2013-04-02

申请号：US12720725

申请日：2010-03-10

申请人： Muhammad E. Abdallah ,  Robert Platt ,  Charles W. Wampler, II

发明人： Muhammad E. Abdallah ,  Robert Platt ,  Charles W. Wampler, II

IPC分类号： G06F19/00 ,  B25J15/08

CPC分类号： H01R13/17 ,  H01R13/052

摘要： 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.

摘要翻译： 提供了一种用于在机器人系统中将肌腱驱动的手指的肌腱之间分布张力的方法，其中手指具有n个自由度和n + 1个肌腱。 该方法包括确定手指的每个肌腱的最大功能张力和最小功能张力，然后使用控制器在肌腱之间分布张力，使得每个肌腱被赋予小于最大功能张力的张力值并且大于 或等于最小功能张力。 该方法在最小化机器人系统内部张力的同时满足最小功能张力，并满足最大功能张力，而不会对关节扭矩引入耦合干扰。 机器人系统包括具有至少一个腱驱动的手指，其特征在于n个自由度和n + 1个腱的机器人，以及具有如上所述的用于控制腱的算法的控制器。

公开(公告)号：US08364314B2

公开(公告)日：2013-01-29

申请号：US12624445

申请日：2009-11-24

申请人： Muhammad E Abdallah ,  Robert Platt ,  Charles W. Wampler, II ,  Matthew J Reiland ,  Adam M Sanders

发明人： Muhammad E Abdallah ,  Robert Platt ,  Charles W. Wampler, II ,  Matthew J Reiland ,  Adam M Sanders

IPC分类号： G06F19/00

CPC分类号： H01R13/17 ,  H01R13/052

摘要： A robotic system includes a humanoid robot having a plurality of joints adapted for force control with respect to an object acted upon by the robot, a graphical user interface (GUI) for receiving an input signal from a user, and a controller. The GUI provides the user with intuitive programming access to the controller. The controller controls the joints using an impedance-based control framework, which provides object level, end-effector level, and/or joint space-level control of the robot in response to the input signal. A method for controlling the robotic system includes receiving the input signal via the GUI, e.g., a desired force, and then processing the input signal using a host machine to control the joints via an impedance-based control framework. The framework provides object level, end-effector level, and/or joint space-level control of the robot, and allows for functional-based GUI to simplify implementation of a myriad of operating modes.

摘要翻译： 机器人系统包括具有适于对由机器人作用的物体进行力控制的多个关节的人形机器人，用于从用户接收输入信号的图形用户界面（GUI）和控制器。 GUI为用户提供对控制器的直观编程访问。 控制器使用基于阻抗的控制框架控制关节，该框架响应于输入信号提供机器人的物体水平，末端执行器水平和/或联合空间级控制。 用于控制机器人系统的方法包括经由GUI接收输入信号，例如期望的力，然后使用主机处理输入信号，以经由基于阻抗的控制框架来控制关节。 该框架提供了机器人的对象级别，末端执行器级别和/或联合空间级别控制，并允许基于功能的GUI来简化无数操作模式的实现。

公开(公告)号：US20100152898A1

公开(公告)日：2010-06-17

申请号：US12335153

申请日：2008-12-15

申请人： Matthew J. Reiland ,  Robert Platt ,  Charles W. Wampler, II ,  Muhammad E. Abdallah ,  Brian Hargrave

发明人： Matthew J. Reiland ,  Robert Platt ,  Charles W. Wampler, II ,  Muhammad E. Abdallah ,  Brian Hargrave

IPC分类号： B25J13/00

CPC分类号： B25J9/1633 ,  G05B2219/39457

摘要： A system and method for controlling tendon-driven manipulators that provide a closed-loop control of joint torques or joint impedances without inducing dynamic coupling between joints. The method includes calculating tendon reference positions or motor commands by projecting a torque error into tendon position space using a single linear operation. The method calculates this torque error using sensed tendon tensions and a reference torque and internal tension. The method can be used to control joint impedance by calculating the reference torque based on a joint position error. The method limits minimum and maximum tendon tensions by projecting the torque error into the tendon tension space and then projecting ii back into joint space.

摘要翻译： 用于控制腱驱动的操纵器的系统和方法，其提供关节扭矩或关节阻抗的闭环控制，而不引起关节之间的动态联接。 该方法包括通过使用单个线性运算将扭矩误差投影到腱位置空间来计算腱参考位置或电动机命令。 该方法使用感测到的腱张力和参考扭矩和内部张力来计算该扭矩误差。 该方法可用于通过基于关节位置误差计算参考扭矩来控制关节阻抗。 该方法通过将扭矩误差投影到腱张力空间中，然后将ii投射到关节空间中来限制最小和最大肌腱张力。