Trajectory Tracking Control of Tendon Driven Robots Using Delayed Force Feedback

This paper proposed a trajectory tracking controller for the tendon driven robot with reference to the structure of the biological control systems. The proposed controller can achieve the quick tracking to the desired trajectories by applying the delayed reflexive force feedback. Whereas the load compensation by the reflexive force feedback makes the quick tracking possible, on the other side, it occasionally destabilizes the controlled system. Thus, in the proposed controller, the adaptive controller which is derived through the modeling of the cerebellum is incorporated to stabilize the motion. The stability of the proposed controller is proven using the Lyapunov-Krasovskii stability theorem. The effectiveness of the proposed controller is examined through some simulations executed for the two link tendon driven robot.