Article Dans Une Revue IEEE/ASME Transactions on Mechatronics Année : 2026

Force Control of an Underactuated Tendon-Driven Manipulator

Résumé

This paper investigates the application of force controls on a tendon-driven underactuated robotic arm. A direct use of classical hybrid force/motion control based on computed torque control can lead to instability for this type of system. Reformulating the hybrid force/motion control using the pseudo computed torque control (PCTC) framework leads to a stable control strategy. Finally, it is shown that applying admittance control in combination with PCTC also results in stable behavior when exerting a force against a wall or in a cobotics context. These results are then validated through experimentation.

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hal-05630117 , version 1 (22-05-2026)

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Nicolas J.S. Testard, Christine Chevallereau, Philippe Wenger. Force Control of an Underactuated Tendon-Driven Manipulator. IEEE/ASME Transactions on Mechatronics, inPress, pp.1-11. ⟨10.1109/TMECH.2026.3688030⟩. ⟨hal-05630117⟩
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