Original scientific paper

https://doi.org/10.7305/automatika.54-1.307

Force Control of Musculoskeletal Manipulator Driven By Spiral Motors

Ahmad Zaki bin Hj Shukor ; Department of Electrical and Computer Engineering, Faculty of Engineering, Yokohama National University, 79-5 Tokowadai, Hodogaya-ku, Yokohama 240-8501, Japan
Yasutaka Yasutaka ; Department of Electrical and Computer Engineering, Faculty of Engineering, Yokohama National University, 79-5 Tokowadai, Hodogaya-ku, Yokohama 240-8501, Japan

Abstract

This paper presents force control of musculoskeletal manipulator driven by spiral motors. The kinematic and dynamic properties are shown to address the presence of ennvironmental contact with the manipulator. From this contact, the force control schemes were explored, by comparing between monoarticular-only structure and biarticular structure manipulator. Force control schemes were divided into independent muscle control, end effector step force command, and muscular viscoelasticity control. The results show advantages of biarticular actuation compared to monoarticular-only actuation in the feasibility of magnetic levitation (gap) control alongside force control.

Keywords

biarticular muscle; force control; closed kinematic; parallel manipulator; muscular viscoelasticity

Hrčak ID:

100200

URI

https://hrcak.srce.hr/100200

Publication date:

4.4.2013.

Article data in other languages: croatian

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