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

Keisuke Sano, Hiroyuki Kawai, Toshiyuki Murao, Masayuki Fujita

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

6 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 languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Control Applications
Pages1346-1351
Number of pages6
DOIs
Publication statusPublished - 2012
Event2012 IEEE International Conference on Control Applications, CCA 2012 - Dubrovnik
Duration: 2012 Oct 32012 Oct 5

Other

Other2012 IEEE International Conference on Control Applications, CCA 2012
CityDubrovnik
Period12/10/312/10/5

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Mathematics(all)

Cite this

Sano, K., Kawai, H., Murao, T., & Fujita, M. (2012). Open-loop control for 2DOF robot manipulators with antagonistic bi-articular muscles. In Proceedings of the IEEE International Conference on Control Applications (pp. 1346-1351). [6402353] https://doi.org/10.1109/CCA.2012.6402353