On independent position/gap control of a spiral motor

2011 IEEE International Conference on Mechatronics

2011

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This paper presents the workspaceltaskspace control of a planar biarticular robot manipulator with linear actuation.Due to the nature of the biarticular structure, the configuration is closed link and has to include the constraints of the system. This paper presents the modelling of the planar structure and the simulation of workspace control by two methods, inverse kinematics and direct cartesian control using simplified inertia terms. Comparison is then done between the two methods to conclude the advantages and disadvantages. A significant finding is that by using the simplified two-link planar terms on the complex structure, control is achieved and improved.

Section: Department Of Electrical Andmentioning

confidence: 99%

“…Moreover, the motor has high thrust-force characteristics because the flux is effectively utilized in its 3-D structure. Modelling of the spiral motor is stated in [21] The following figures illustrates the concept of spiral motor. …”

Section: The Spiral Motormentioning

confidence: 99%

Workspace control of biarticular manipulator

2011 IEEE International Conference on Mechatronics

2011

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“…In short, the muscle forces are obtained by using the product of the conventional jacobian transpose with the inverse of the muscle jacobian, in other words, reversing (9).…”

Section: Force Control Scheme For Biarticular Manipulatormentioning

confidence: 99%

“…The first prototype of a new spiral motor (of helical structure) which is direct drive, high backdrivable, high output ratio can be referred to in [8]. From the first prototype, the internal permanent version was developed and lately, the surface permanent magnet prototype [9] [10] which is intended for use in this research. The basic idea is that these spiral motors represents the muscles, one for each pair of antagonistic muscles, i.e.…”

Section: Introductionmentioning

confidence: 99%

Force control of musculoskeletal manipulator

2012 12th IEEE International Workshop on Advanced Motion Control (AMC)

2012

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This paper presents force control of musculoskeletal manipulator. 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 first prototype of a new spiral motor (of helical structure) which is direct drive, high backdrivable, high output ratio was shown in [25]. From the first prototype, the internal permanent version was developed and lately, the surface permanent magnet prototype [26] [27] for this research. The basic idea is that these spiral motors represent the muscles, one for each pair of antagonistic muscles, i.e.…”

Section: Introductionmentioning

confidence: 99%

Force Control of Musculoskeletal Manipulator Driven By Spiral Motors

2013

Automatika

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Original scientific paperThis 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.