Novel FF Control Algorithm of Robot Arm Based on Bi-articular Muscle Principle - Emulation of Muscular Viscoelasticity for Disturbance Suppression and Path Tracking
Novel FF Control Algorithm of Robot Arm Based on Bi-articular Muscle Principle - Emulation of Muscular Viscoelasticity for Disturbance Suppression and Path Tracking
复制标题
基于双关节肌肉原理的新型机械臂FF控制算法——用于干扰抑制和路径跟踪的肌肉粘弹性仿真
DOI：
10.1109/iecon.2007.4460247
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发表时间：
2007
期刊：
影响因子：
--
通讯作者：
Y. Hori
中科院分区：
文献类型：
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作者：
K. Yoshida;T. Uchida;Y. Hori
最近，有许多将动物特征引入机器人的试验。动物有惊人的控制能力。我们认为肌肉的粘弹性和肌肉排列在这种能力中起着重要的作用。本文将上臂的肌肉排列简化为由四块单关节肌肉和两块双关节肌肉组成的模型。我们提出了一种新的控制方法来驱动这一简单的前馈控制手臂模型。该方法获得了类似于利用肌肉粘弹性进行反馈控制的鲁棒性。此外，我们还制作了一个基于双关节肌肉原理的Robotarm模型来验证所提出的方法。阐述了其机理和控制方法。
Recently there are many trials to introduce animal characteristics into robots. Animals have amazing control ability. We consider that muscular viscoelasticity and muscular arrangements have important roles in such ability. In this paper muscular arrangements of upper arm are simplified to a model consist of four mono-articular muscles and two bi-articular muscles. We suggest novel control method to drive this simple arm model with feedforward control. This method obtain robustness like feedback control to use muscular viscoelasticity. Furthermore we made an robotarm based on the principle of bi-articular muscles to verify proposed method. Its mechanism and control method is described.