Workspace control of biarticular manipulator

2013 IEEE International Conference on Mechatronics (ICM)

2013

In this paper, we propose passive control of a musculoskeletal biarticular structure driven by direct-drive spiral motors. The spiral motor is a three-dimensional helical threephase PM motor without any additional mechanism that achieves forward and backward direct-drive linear actuation by magnetic levitation of the rotor and angle control. At first the dynamics of the structure including the spiral motor are shown. Then the passive control scheme of the spiral motor is explained. By giving zero muscle force reference to each muscles, the angle control variables compensates gap control variables to realize passive control of the manipulator. The simulation results on the manipulator show feasibility of maintaining air-gaps during passive control and experimental results on single monoarticular structure validates the control.

“…The constraint Jacobian terms were shown in [9]. The relative accelerations at constraints are zero.…”

Section: Dynamics Of Biarticular Structurementioning

confidence: 99%

Section: The Spiral Motormentioning

confidence: 99%

Section: Introductionmentioning

confidence: 96%

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Load disturbance and environment effect on biarticular manipulator driven by spiral motors

2013 IEEE International Conference on Mechatronics (ICM)

2013

“…One of the advantages of actuation redundancy of biarticular manipulator is the force ellipsoid, which is hexagon in shape, compared to tetragon for non-biarticular manipulators [12].…”

Section: Biarticular Muscle Structurementioning

confidence: 99%

Force control of musculoskeletal manipulator

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

2012

Self Cite

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.

“…One of the advantages of actuation redundancy of biarticular manipulator is the force ellipsoid, which is hexagon in shape, compared to tetragon for non-biarticular manipulators [29].…”

Section: Biarticular Muscle Structurementioning

confidence: 99%

Force Control of Musculoskeletal Manipulator Driven By Spiral Motors

2013

Automatika

Self Cite

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.