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Tendon driven mechanisms have been considered in robotic design for several decades. They provide lightweight end effectors with high dynamics. Using remote actuators it is possible to free more space for mechanics or electronics. Nevertheless, lightweight mechanism are fragile and unfortunately their control software can not protect them during the very first instant of an impact. Compliant mechanisms...
This paper proposes a method for accurate robotic motion compensation of a freely moving target object. This approaches a typical problem in medical scenarios, where a robotic system needs to compensate physiological movements of a target region related to the patient. An optical tracking system measures the poses of the robot's end-effector and the moving target. The task is to track the target with...
This paper addresses an impedance control for a free-floating space robot in the grasping of a tumbling target with model uncertainty. Firstly, the operational space dynamics for a free-floating robot is derived with a novel, computationally efficient formulation. Then, considering the grasped target as a disturbance force on the end-effector, the proposed control method is completely independent...
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