Design and position-tracking control of a flexible joint based on the tendon-sheath mechanism

Abstract

In this study, a flexible joint comprising active and passive driving modes was designed based on the tendon-sheath mechanism. Further, angle sensors and series elastomers (SE) were integrated inside the joint to produce a compact and flexible structure. First, a model of the flexible joint was established based on the involved stiffness relation, and this model was validated using the dSPACE system. Next, to respond to the low control accuracy and poor anti-interference ability of the flexible joints, a sliding-mode controller (SMC) was designed to facilitate the precise position control, as well as achieve improved robustness. However, the flexible joint was prone to considerable tremors when the overall system was subjected to a large load mass. Therefore, a fuzzy-modified adaptive SMC (FMASMC), which adaptively adjusts the SMC parameters, was designed based on the historical-state data of the system. This control method could suppress the trembling phenomenon of the system while improving its control accuracy. Finally, it was experimentally verified that the compliant joint could achieve the expected functions. Compared with the proportional–integral–derivative (PID) and SMC control algorithms, the FMASMC algorithm could effectively overcome the tremors of the compliant actuation system and improve its control accuracy; moreover, it is also suitable for controlling other compliant joints.