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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

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 21.10.2021.
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 21.10.2021.];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
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.

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

Hrčak ID: 100200

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

[hrvatski]

Posjeta: 1.016 *