hrcak mascot   Srce   HID

Izvorni znanstveni članak
https://doi.org/10.7305/automatika.54-1.307

Upravljanje silom mišićno-koštanog manipulatora pogonjenog spiralnim motorom

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

Puni tekst: engleski, pdf (3 MB) str. 74-88 preuzimanja: 717* citiraj
APA 6th Edition
Shukor, A.Z.b.H. i Yasutaka, Y. (2013). Force Control of Musculoskeletal Manipulator Driven By Spiral Motors. Automatika, 54 (1), 74-88. https://doi.org/10.7305/automatika.54-1.307
MLA 8th Edition
Shukor, Ahmad Zaki bin Hj i Yasutaka Yasutaka. "Force Control of Musculoskeletal Manipulator Driven By Spiral Motors." Automatika, vol. 54, br. 1, 2013, str. 74-88. https://doi.org/10.7305/automatika.54-1.307. Citirano 26.10.2021.
Chicago 17th Edition
Shukor, Ahmad Zaki bin Hj i Yasutaka Yasutaka. "Force Control of Musculoskeletal Manipulator Driven By Spiral Motors." Automatika 54, br. 1 (2013): 74-88. https://doi.org/10.7305/automatika.54-1.307
Harvard
Shukor, A.Z.b.H., i Yasutaka, Y. (2013). 'Force Control of Musculoskeletal Manipulator Driven By Spiral Motors', Automatika, 54(1), str. 74-88. https://doi.org/10.7305/automatika.54-1.307
Vancouver
Shukor AZbH, Yasutaka Y. Force Control of Musculoskeletal Manipulator Driven By Spiral Motors. Automatika [Internet]. 2013 [pristupljeno 26.10.2021.];54(1):74-88. https://doi.org/10.7305/automatika.54-1.307
IEEE
A.Z.b.H. Shukor i Y. Yasutaka, "Force Control of Musculoskeletal Manipulator Driven By Spiral Motors", Automatika, vol.54, br. 1, str. 74-88, 2013. [Online]. https://doi.org/10.7305/automatika.54-1.307

Sažetak
U ovome radu predstavljeno je upravljanje silom mišićno-koštanog manipulatora pogonjenog spiralnim motorom. Kinematička i dinamička svojstva prikazuju prisutnost kontakta manipulatora s okolinom. Na temelju kontakta istraženo je upravljanje silom usporedbom jednozglobne i dvozglobne strukture manipulatora. Upravljanje silom podijeljeno je u neovisno upravljanje mišićima, upravljanje alatom manipulatora (eng. end effector) i upravljanje mišićnom viskoelastičnosti. Rezultati pokazuju prednost dvozglobne strukture u odnosu na jednozglobnu u smislu izvedivosti upravljanja magnetskom levitacijom pored upravljanja silom.

Ključne riječi
dvozglobna struktura mišića; upravljanje silom; zatvorena kinematika; paralelni manipulator; mišićna viskoelastičnost

Hrčak ID: 100200

URI
https://hrcak.srce.hr/100200

[engleski]

Posjeta: 1.016 *