S-Space College of Engineering/Engineering Practice School (공과대학/대학원) Dept. of Mechanical Aerospace Engineering (기계항공공학부) Theses (Master's Degree_기계항공공학부)
Design and Control of Under-Actuated Tendon-Driven Robotic Finger and Hyper-Redundant Robot
부족텐던구동 로봇 손가락과 하이퍼리던던트 로봇의 설계와 제어
- 공과대학 기계항공공학부
- Issue Date
- 서울대학교 대학원
- 학위논문 (석사)-- 서울대학교 대학원 : 공과대학 기계항공공학부, 2018. 8. 이동준.
- We present design and control of under-actuated tendon-driven (UATD) robotic finger and hyper-redundant robot. We first introduce a recently-developed design optimization framework for the UATD robotic systems based on the stiffness decomposition. We apply this design framework to the UATD robotic finger and the UATD hyper-redundant robot with considering physical constraints for their implementation, after obtaining their motion data from motion capture and vision-based motion analysis. Actuated space motion controller is designed for generating the free motion along actuated space considering the deformation in the un-actuated space and the friction of tendons. Simulation and experiment are also performed to verify their optimized design and the developed controller with tension-controlled, bi-directional actuation module.