Control of a robot manipulator with neuromuscular-like actuation

Kao Shing Hwang, Chi-Haur Wu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Motivated by improving the capability of robotic adaptation, a neuromuscular-like model with nonlinear damping was developed in our previous work. To explore possible robotic applications, in this paper the controllability of the model is demonstrated through movements of a two-link arm. In order to command the neuromuscular-driven manipulator, patterns of motor commands for coordinating multiple joints are studied under both Cartesian space and joint space. Under the assumption of minimum-jerk, motor commands generated from the desired Cartesian positions or joint angular positions are treated as equilibrium positions driving the neuromuscular model. Different reaching and whipping movements on a horizontal or vertical plane involving coupling dynamics and gravity are simulated by our model. In comparison with a linear damping control through a constrained movement of hitting and moving along a wall, our neuromuscular model demonstrates the superior compliant capability by adapting to the constraint. This dual property of controlling free and constrained movements makes the neuromuscular model a good mechanism for robotic control.

Original languageEnglish (US)
Title of host publication1992 IEEE International Conference on Systems, Man, and Cybernetics
Subtitle of host publicationEmergent Innovations in Information Transfer Processing and Decision Making, SMC 1992
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages195-200
Number of pages6
Volume1992-January
ISBN (Electronic)0780307208, 9780780307209
DOIs
StatePublished - Jan 1 1992
EventIEEE International Conference on Systems, Man, and Cybernetics, SMC 1992 - Chicago, United States
Duration: Oct 18 1992Oct 21 1992

Other

OtherIEEE International Conference on Systems, Man, and Cybernetics, SMC 1992
CountryUnited States
CityChicago
Period10/18/9210/21/92

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Human-Computer Interaction

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