Passivity-based control for 2DOF robot manipulators with antagonistic bi-articular muscles

Hiroyuki Kawai*, Toshiyuki Murao, Ryuichi Sato, Masayuki Fujita

*この研究の対応する著者

研究成果: Conference contribution

14 被引用数 (Scopus)

抄録

This paper investigates a passivity-based control 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 by using the important property which is concerned with the passivity, although the passivity of the bi-articular manipulator dynamics can not be shown on account of antagonistic bi-articular muscles explicitly. Finally, simulation results are shown in order to confirm the proposed method.

本文言語English
ホスト出版物のタイトルProceedings of the IEEE International Conference on Control Applications
ページ1451-1456
ページ数6
DOI
出版ステータスPublished - 2011
イベント2011 20th IEEE International Conference on Control Applications, CCA 2011 - Denver, CO
継続期間: 2011 9月 282011 9月 30

Other

Other2011 20th IEEE International Conference on Control Applications, CCA 2011
CityDenver, CO
Period11/9/2811/9/30

ASJC Scopus subject areas

  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • 数学一般

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