A Vision-Based Force/Position Fusion Actuation-Sensing Scheme for Tendon-Driven Mechanism

摘要

Current robotic sensing systems typically employ multiple sensors to obtain position and force information. This usually leads to many challenges, such as high costs and complex wiring. In this letter, a vision-based force/position fusion actuation-sensing scheme is proposed. The scheme can measure the angles and torques of all joints with only one low-cost camera. Through careful design of the actuation-sensing mechanism, the camera can achieve high resolution and high bandwidth processing. The proposed angle measurement model and external torque measurement model are evaluated by rigorous experiments. The experimental results indicate that the designed mechanism shows excellent repeatability and accuracy. The average error for all angles is less than 1 <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$^{\circ }$</tex-math></inline-formula>, and the average maximum relative error for torque is 4.43%.