Force Control of Musculoskeletal Manipulator Driven By Spiral Motors
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 monoarti...
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| Main Author: | |
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| Format: | Article |
| Language: | English |
| Published: |
2012
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| Subjects: | |
| Online Access: | http://eprints.utem.edu.my/id/eprint/9502/1/307-2665-3-PB_%281%29.pdf http://eprints.utem.edu.my/id/eprint/9502/ https://automatika.korema.hr/index.php/automatika/index |
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| Summary: | 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. |
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