Force Control of Musculoskeletal Manipulator Driven By Spiral Motors

摘要

AbstractThis 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.U ovome radu predstavljeno je upravljanje silom mišićno-koštanog manipulatora pogonjenog spiralnim motorom. Kinematička i dinamička svojstva prikazuju prisutnost kontakta manipulatora s okolinom. Na temelju kontakta istraženo je upravljanje silom usporedbom jednozglobne i dvozglobne strukture manipulatora. Upravljanje silom podijeljeno je u neovisno upravljanje mišićima, upravljanje alatom manipulatora (eng. end effector) i upravljanje mišićnom viskoelastičnosti. Rezultati pokazuju prednost dvozglobne strukture u odnosu na jednozglobnu u smislu izvedivosti upravljanja magnetskom levitacijom pored upravljanja silom.Key words: biarticular muscleforce controlclosed kinematicparallel manipulatormuscular viscoelasticityKljučne riječi: dvozglobna struktura mišićaupravljanje silomzatvorena kinematikaparalelni manipulatormišićna viskoelastičnost Additional informationNotes on contributorsAhmad Zaki bin Hj ShukorAhmad Zaki Shukor received the B.E. from Universiti Teknologi Malaysia in 2002 and M.E. from University of South Australia in 2004. He is currently pursuing in PhD in Yokohama National University, Japan. From 2002, he is attached to Universiti Teknikal Malaysia Melaka. His research interests include actuators, robotics, and motion control. Ahmad Zaki Shukor is a graduate member of the Board of Engineers Malaysia and Robotics Society of Japan.Yasutaka FujimotoYasutaka Fujimoto received the B.E., M.E., and Ph.D. degrees in electrical and computer engineering from Yokohama National University, Yokohama, Japan, in 1993, 1995, and 1998, respectively. In 1998, he joined the Department of Electrical Engineering, Keio University, Yokohama, Japan, as a Research Associate. Since 1999, he has been with the Department of Electrical and Computer Engineering, Yokohama National University, where he is currently an Associate Professor. His research interests include actuators, robotics, manufacturing automation, and motion control. Dr. Fujimoto is a member of the IEEE Industrial Electronics Society Technical Committee on Sensors and Actuators, Institute of Electrical Engineers of Japan, and Robotics Society of Japan.