Control of oscillations of a joint driven by elastic tendons by way of the Speed Gradient method [articol]

Abstract

In recent years, there is an increased interest in robotic manipulators with elastic tendon transmission between motor and joint. Such systems allow temporary energy storage and retrieval, and may make periodic trajectories more efficient as long as they can make use of the passive dynamics of the system. This paper studies a simplified model of one revolute joint and two antagonist tendons. The unforced system behaviour is modelled first, then a torque compensation and full state feedback controller for the motors is implemented. The controller is augmented by the speed gradient method to make better use of the underlying oscillatory dynamics.