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Control and Virtual Reality Simulation of Tendon Driven Mechanisms

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Abstract

In this paper the authors present a control strategy for tendon driven mechanisms. The aim of the control system is to find the correct torques which the motors have to exert to make the end effector describe a specific trajectory. In robotic assemblies this problem is often solved with closed loop algorithm, but here a simpler method, based on a open loop strategy, is developed. The difficulties in the actuation are in keeping the belt tight during all working conditions. So an innovative solution of this problem is presented here. This methodology can be easily applied in real time monitoring or very fast operations. For this reason several virtual reality simulations, developed using codes written in Virtual Reality Markup Language, are also presented. This approach is very efficient because it requires a very low cpu computation time, small size files, and the manipulator can be easily put into different simulated scenarios.

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Authors and Affiliations

  1. Department of Mechanical Engineering, University of Tor Vergata, Rome, Italy

    Fabio Londi, Ettore Pennestrì, Pier Paolo Valentini & Leonardo Vita

Authors
  1. Fabio Londi
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  2. Ettore Pennestrì
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  3. Pier Paolo Valentini
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  4. Leonardo Vita
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Londi, F., Pennestrì, E., Valentini, P.P. et al. Control and Virtual Reality Simulation of Tendon Driven Mechanisms. Multibody System Dynamics 12, 133–145 (2004). https://doi.org/10.1023/B:MUBO.0000044419.83366.a9

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  • DOI: https://doi.org/10.1023/B:MUBO.0000044419.83366.a9

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