Position and force control of a robot by means of round-belt twist-actuation generating contraction forces

Position and force control of a robot by means of round-belt twist-actuation generating contraction forces

Blog Article

This paper introduces a novel robotic joint mechanism composed of antagonistically twisted round-belt actuator, which has multiple Venting Kit small-diameter round-belts in antagonistic location around the joint.This joint mechanism is developed by emulating muscle structure of human upper limbs, and can be activated by twisting each round-belt that is made of polyurethane materials.Especially, this paper shows position and force control by means of the proposed twisted round-belt actuators with traditional P/PI controllers.We clearly demonstrate that contact force on tip of the robot is able to follow desired sinusoidal trajectory with no errors by means of straightforward algorithm on the basis of voltage-controlled robot hardware.

Through these experiments, we explain intrinsic Compressors characteristics of twisted round-belt actuator system and advantages of the structure in control performance.