Robust operation of tendon-driven robot fingers using force and position-based control laws

US8489239B2 · kind B2 · utility

Assignees

• GM GLOBAL TECHNOLOGY OPERATIONS LLC · US
• The United States of America as represented by the Administrator of the National Aeronautics and Space Administration · US

Inventors

• Muhammad E. Abdallah · Houston, US
• Robert Platt · Houston, US
• Matthew J. Reiland · Oxford, US
• Brian Hargrave · Dallas, US
• Myron A. Diftler · Houston, US
• Philip A. Strawser · Houston, US
• Chris A. Ihrke · Hartland, US

Key dates

• Filing date: Nov 1, 2010
• Grant date: Jul 16, 2013
• Expiry date: Oct 20, 2031

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B25J9/1045
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A robotic system includes a tendon-driven finger and a control system. The system controls the finger via a force-based control law when a tension sensor is available, and via a position-based control law when a sensor is not available. Multiple tendons may each have a corresponding sensor. The system selectively injects a compliance value into the position-based control law when only some sensors are available. A control system includes a host machine and a non-transitory computer-readable medium having a control process, which is executed by the host machine to control the finger via the force- or position-based control law. A method for controlling the finger includes determining the availability of a tension sensor(s), and selectively controlling the finger, using the control system, via the force or position-based control law. The position control law allows the control system to resist disturbances while nominally maintaining the initial state of internal tendon tensions.