A Backstepping control strategy for constrained tendon driven robotic finger
Systems and Control
2019-02-11 v2
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.
Keywords
Cite
@article{arxiv.1811.02301,
title = {A Backstepping control strategy for constrained tendon driven robotic finger},
author = {Kunal Sanjay Narkhede and Aashay Anil Bhise and IA Sainul and Sankha Deb},
journal= {arXiv preprint arXiv:1811.02301},
year = {2019}
}
Comments
To appear in the Proceedings of IEEE ICCAR 2019