Force Control of Musculoskeletal Manipulator Driven By Spiral Motors

• Main Author: Shukor, Ahmad Zaki
• Format: Article
• Language: English
• Published: 2012
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• 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

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.