On tendon-driven robotic mechanisms with redundant tendons

被引：110
|
作者：
Kobayashi, H [1 ]
Hyodo, K
Ogane, D
机构：
[1] Meiji Univ, Sch Sci & Technol, Kawasaki, Kanagawa 2148571, Japan
[2] Kanagawa Inst Technol, Fac Engn, Atsugi, Kanagawa 2430292, Japan
来源：
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH | 1998年 / 17卷 / 05期
关键词：
D O I：
10.1177/027836499801700507
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this paper several basic issues are discussed regarding tendon redundancy and joint stiffness adjustability for a robotic mechanism driven with redundant tendons. After briefly discussing tendon-controllability, the authors define local maximum sets of tendons that are redundant simultaneously (local maximum redundant tendon sets) and obtain an irreducible description of a redundant tendon in terms of the others. The authors obtain conditions under which the joint stiffness is adjustable using the tendons' nonlinear elasticity.
引用
收藏
页码：561 / 571
页数：11
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