Development of dexterous robotic joints is essential for advancing manipulation capabilities in robotic systems. This paper presents the design and implementation of a tendon-driven robotic wrist joint together with an efficient Sliding Mode Controller (SMC) for precise motion control. The wrist mechanism is modeled using a Timoshenko-based approach to accurately capture its kinematic and dynamic properties, which serve as the foundation for tendon force calculations within the controller. The proposed SMC is designed to deliver fast dynamic response and computational efficiency, enabling accurate trajectory tracking under varying operating conditions. The effectiveness of the controller is validated through comparative analyses with existing controllers for similar wrist mechanisms. The proposed SMC demonstrates superior performance in both simulation and experimental studies. The Root Mean Square Error (RMSE) in simulation is approximately 1.67e-2 radians, while experimental validation yields an error of 0.2 radians. Additionally, the controller achieves a settling time of less than 3 seconds and a steady-state error below 1e-1 radians, consistently observed across both simulation and experimental evaluations. Comparative analyses confirm that the developed SMC surpasses alternative control strategies in motion accuracy, rapid convergence, and steady-state precision. This work establishes a foundation for future exploration of tendon-driven wrist mechanisms and control strategies in robotic applications.

翻译：灵巧机器人关节的开发对于提升机器人系统的操作能力至关重要。本文介绍了一种腱驱动机器人手腕关节的设计与实现，并为其精确运动控制提出了一种高效的滑模控制器（SMC）。该手腕机构采用基于Timoshenko梁理论的方法进行建模，以精确捕捉其运动学和动力学特性，这些特性为控制器内部的腱力计算奠定了基础。所提出的SMC旨在提供快速的动态响应和计算效率，从而在变化的操作条件下实现精确的轨迹跟踪。通过与现有类似手腕机构控制器的对比分析，验证了该控制器的有效性。所提出的SMC在仿真和实验研究中均表现出优越的性能。仿真中的均方根误差（RMSE）约为1.67e-2弧度，而实验验证产生的误差为0.2弧度。此外，该控制器实现了小于3秒的调节时间和低于1e-1弧度的稳态误差，这一结果在仿真和实验评估中均得到一致观测。对比分析证实，所开发的SMC在运动精度、快速收敛性和稳态精度方面均优于其他控制策略。这项工作为未来在机器人应用中探索腱驱动手腕机构及其控制策略奠定了基础。