Planar Task Space Control of a Biarticular Manipulator Driven by Spiral Motors
This paper elaborates upon a musculoskeletal‐ inspired robot manipulator using a prototype of the spiral motor developed in our laboratory. The spiral motors represent the antagonistic muscles due to the high forward/backward drivability without any gears or mechanisms. M...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
InTech
2012
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| Subjects: | |
| Online Access: | http://eprints.utem.edu.my/id/eprint/8901/1/InTech-Planar_task_space_control_of_a_biarticular_manipulator_driven_by_spiral_motors.pdf http://eprints.utem.edu.my/id/eprint/8901/ http://www.intechopen.com/journals/international_journal_of_advanced_robotic_systems |
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| Summary: | This paper elaborates upon a musculoskeletal‐
inspired robot manipulator using a prototype of the spiral
motor developed in our laboratory. The spiral motors
represent the antagonistic muscles due to the high
forward/backward drivability without any gears or
mechanisms. Modelling of the biarticular structure with
spiral motor dynamics was presented and simulations
were carried out to compare two control methods,
Inverse Kinematics (IK) and direct‐Cartesian control,
between monoarticular only structures and biarticular
structures using the spiral motor. The results show the
feasibility of the control, especially in maintaining air
gaps within the spiral motor. |
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