A Backstepping control strategy for constrained tendon driven robotic finger

2018/11/06 by Narkhede, Kunal Sanjay, Bhise, Aashay Anil, Sainul, IA +1
#FOS: Electrical engineering #Systems and Control (eess.SY) #electronic engineering #information engineering

paper · doi:10.48550/arxiv.1811.02301

Abstract

The task of controlling an underactuated robotic finger with a single tendon and a single actuator is difficult. Methods for controlling the class of underactuated systems are available in the literature. However, this particular system does not fall into the class of underactuated system. This paper presents a design change which introduces kinematic constraints into the system, making the system controllable. Backstepping control strategy is used to control the system. Simulation results are presented for single finger driven by a single actuator.

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