Year: 2026
Type: article
Abstract: Tendon-driven manipulators possess obvious advantages compared to rigid-link manipulators, such as lighter weight, greater flexibility, and adaptability to confined spaces. To solve the problems of backlash and improve the accuracy of motion in specific application environments, this paper proposes a novel single-tendon-driven design for each joint of the manipulator. Kinematic modeling of the manipulator is systematically derived. Then, a decoupling algorithm is designed to mitigate motion coupling effects and enable accurate mapping between motor inputs and joint motions. Moreover, to improve the accuracy of trajectory tracking control for the tendon-driven manipulator, this paper proposes a nonsingular terminal sliding mode (NTSM) control scheme based on time-delay estimation (TDE). TDE is used to estimate unknown disturbances. An adjustable parameter was introduced based on TDE technology, which can enhance the system’s robustness against uncertainties and external disturbances. The stability of the closed-loop control system is verified through Lyapunov stability theory. Finally, decoupling experiments are conducted to validate the kinematic model and the feasibility of the proposed design. And comparative experiments are performed to prove the advantages of the proposed control scheme.
Source: Actuators
DOI: 10.3390/act15050271
Authors: Fei Yan, Jianhua Li, Huawei Han, Qiwang Xu, Linfeng Hu
Institution: Yantai University
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $2,896
Award: G1247179618
OpenAlex ID: W7160878083