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Trajectory tracking through Multiple Weight Control with slackness avoidance for modular parallel tendon-driven joints

delete2026-01-16
delete0
PRE
AI
J
Josef Neto
Y
Yiwei Wang
S
Shunta Togo
H
Hiroshi Yokoi
Y
Yinlai Jiang *
DOI：10.1016/j.mechatronics.2026.103463delete
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摘要

摘要

En 中文
• A novel control strategy integrates two sub-controller laws using dynamic weighting. • High-precision trajectory tracking is demonstrated in both simulations and real-time experiments. • A slackness avoidance algorithm is developed based on tendon tension estimation and actuator current measurements. • The proposed method achieves robust performance and accuracy, validated through multiple quantitative metrics.

期刊

Mechatronics 封面图
Mechatronics
IF:
3.1
论文数:
2.9K
被引数:
5.7K

机构

T
the university of electro-communications
学者数:
144
论文数: 73
被引数: 0
引用论文

引用论文

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