Open-loop control for 2DOF robot manipulators with antagonistic bi-articular muscles

Keisuke Sano; Hiroyuki Kawai; Toshiyuki Murao; Masayuki Fujita

doi:10.1109/CCA.2012.6402353

Open-loop control for 2DOF robot manipulators with antagonistic bi-articular muscles

Keisuke Sano^*, Hiroyuki Kawai, Toshiyuki Murao, Masayuki Fujita

^*Corresponding author for this work

Waseda Research Institute for Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

7 Citations (Scopus)

Abstract

This paper investigates open-loop control, which does not need the joint angles and velocities, for two degree of freedom(2DOF) robot manipulators with antagonistic bi-articular muscles which are passing over adjacent two joints and acting the both joints simultaneously. The manipulator dynamics of three muscle torques, we call the bi-articular manipulator dynamics, is constructed in order to design the control input. Stability analysis with respect to our proposed control law is discussed based on the Lyapunov method. Our approach is inspired by the fact that humans do not measure the joint angles and velocities explicitly, Finally, simulation results are shown in order to confirm the proposed method and given a design procedure in order to assign the tuning parameter

Original language	English
Title of host publication	Proceedings of the IEEE International Conference on Control Applications
Pages	1346-1351
Number of pages	6
DOIs	https://doi.org/10.1109/CCA.2012.6402353
Publication status	Published - 2012
Event	2012 IEEE International Conference on Control Applications, CCA 2012 - Dubrovnik Duration: 2012 Oct 3 → 2012 Oct 5

Other

Other	2012 IEEE International Conference on Control Applications, CCA 2012
City	Dubrovnik
Period	12/10/3 → 12/10/5

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Mathematics(all)

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10.1109/CCA.2012.6402353

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title = "Open-loop control for 2DOF robot manipulators with antagonistic bi-articular muscles",

abstract = "This paper investigates open-loop control, which does not need the joint angles and velocities, for two degree of freedom(2DOF) robot manipulators with antagonistic bi-articular muscles which are passing over adjacent two joints and acting the both joints simultaneously. The manipulator dynamics of three muscle torques, we call the bi-articular manipulator dynamics, is constructed in order to design the control input. Stability analysis with respect to our proposed control law is discussed based on the Lyapunov method. Our approach is inspired by the fact that humans do not measure the joint angles and velocities explicitly, Finally, simulation results are shown in order to confirm the proposed method and given a design procedure in order to assign the tuning parameter",

author = "Keisuke Sano and Hiroyuki Kawai and Toshiyuki Murao and Masayuki Fujita",

year = "2012",

doi = "10.1109/CCA.2012.6402353",

language = "English",

isbn = "9781467345033",

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note = "2012 IEEE International Conference on Control Applications, CCA 2012 ; Conference date: 03-10-2012 Through 05-10-2012",

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T1 - Open-loop control for 2DOF robot manipulators with antagonistic bi-articular muscles

AU - Sano, Keisuke

AU - Kawai, Hiroyuki

AU - Murao, Toshiyuki

AU - Fujita, Masayuki

PY - 2012

Y1 - 2012

N2 - This paper investigates open-loop control, which does not need the joint angles and velocities, for two degree of freedom(2DOF) robot manipulators with antagonistic bi-articular muscles which are passing over adjacent two joints and acting the both joints simultaneously. The manipulator dynamics of three muscle torques, we call the bi-articular manipulator dynamics, is constructed in order to design the control input. Stability analysis with respect to our proposed control law is discussed based on the Lyapunov method. Our approach is inspired by the fact that humans do not measure the joint angles and velocities explicitly, Finally, simulation results are shown in order to confirm the proposed method and given a design procedure in order to assign the tuning parameter

AB - This paper investigates open-loop control, which does not need the joint angles and velocities, for two degree of freedom(2DOF) robot manipulators with antagonistic bi-articular muscles which are passing over adjacent two joints and acting the both joints simultaneously. The manipulator dynamics of three muscle torques, we call the bi-articular manipulator dynamics, is constructed in order to design the control input. Stability analysis with respect to our proposed control law is discussed based on the Lyapunov method. Our approach is inspired by the fact that humans do not measure the joint angles and velocities explicitly, Finally, simulation results are shown in order to confirm the proposed method and given a design procedure in order to assign the tuning parameter

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DO - 10.1109/CCA.2012.6402353

M3 - Conference contribution

AN - SCOPUS:84873180984

SN - 9781467345033

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EP - 1351

BT - Proceedings of the IEEE International Conference on Control Applications

T2 - 2012 IEEE International Conference on Control Applications, CCA 2012

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Open-loop control for 2DOF robot manipulators with antagonistic bi-articular muscles

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