Impedance-Controlled Tendon-Driven Robotic Finger Empedans Kontrollü ve Tendon Tahrikli Robotik Parmak
34th Signal Processing and Communications Applications Conference, SIU 2026, İstanbul, Türkiye, 7 - 10 Temmuz 2026, (Tam Metin Bildiri)
- Yayın Türü: Bildiri / Tam Metin Bildiri
- Doi Numarası: 10.1109/siu71813.2026.11636631
- Basıldığı Şehir: İstanbul
- Basıldığı Ülke: Türkiye
- Anahtar Kelimeler: feedback linearization, impedance control, nonlinear control, path planning, Tendon-driven robot
- Yıldız Teknik Üniversitesi Adresli: Evet
Özet
In this study, the modeling, path planning, and controller design of a three-degree-of-freedom tendon-driven robotic finger, inspired by the anatomical structure of the human hand, are presented. By analyzing the workspace of the system, deterministic and safe path planning compliant with mechanical constraints is achieved using KD-Tree data structure and Breadth-First Search algorithms. The inherent nonlinear dynamics of the robotic finger are compensated via the feedback linearization method. An impedance-based control strategy is adopted, providing a flexible and stable trajectory tracking performance in the closed-loop system. Furthermore, the calculated joint torques are converted into antagonist tendon forces using a synchronized push-pull principle, ensuring the mechanical safety and motion continuity of the system.