Skoči na glavni sadržaj

Izvorni znanstveni članak

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 3.206 Kb

str. 74-88

preuzimanja: 902

citiraj


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

Datum izdavanja:

4.4.2013.

Podaci na drugim jezicima: hrvatski

Posjeta: 1.596 *