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

Hiroyuki Kawai, Toshiyuki Murao, Ryuichi Sato, Masayuki Fujita

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

12 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Control Applications
Pages1451-1456
Number of pages6
DOIs
Publication statusPublished - 2011
Event2011 20th IEEE International Conference on Control Applications, CCA 2011 - Denver, CO
Duration: 2011 Sep 282011 Sep 30

Other

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

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ASJC Scopus subject areas

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

Cite this

Kawai, H., Murao, T., Sato, R., & Fujita, M. (2011). Passivity-based control for 2DOF robot manipulators with antagonistic bi-articular muscles. In Proceedings of the IEEE International Conference on Control Applications (pp. 1451-1456). [6044445] https://doi.org/10.1109/CCA.2011.6044445