Reaction force control of robot manipulator based on biarticular muscle viscoelasticity control

摘要

This paper suggests a novel reaction force control in a robot manipulator by position feedback, motivated by the analysis of human musculoskeletal system. First, we suggest an analogy between a muscle force characteristic and two-degree-of-freedom control input structure so that the complicated human muscle structure can be reflected in robot manipulator control: reaction force generated by the viscoelasticity of muscles are identified with the force generated by the PD position control. Then it is extended to a 3-pair 6-muscle model including the biarticular muscle. Next a novel statics based on the biarticular muscle structure is suggested. Based on these suggestions, a robot manipulator which has the biarticular muscle is controlled to simulate the muscle characteristics. By this simulation, the characteristics and roles of the biarticular muscle are clarified; an optimal viscoelasticity design of the biarticular muscle and its effect at the endeffector.