Kinematic Modeling and Visual Sensing of Multi-DOF Robot Manipulator with Patterned Artificial Muscle
Kinematic Modeling and Visual Sensing of Multi-DOF Robot Manipulator with Patterned Artificial Muscle
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DOI：
10.1109/robot.2005.1570784
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发表时间：
2005-04
期刊：
影响因子：
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通讯作者：
Y. Nakabo;T. Mukai;K. Asaka
中科院分区：
文献类型：
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作者：
Y. Nakabo;T. Mukai;K. Asaka
我们描述了一个二维（2-D）的多自由度（DOF）的机器人操作器由软聚合物凝胶致动器，我们称之为人工肌肉。通过对人工肌肉上三段图形电极的独立电压控制，使每段图形电极能够独立地进行部分弯曲运动，实现了机械手的多自由度控制。我们介绍了这些多自由度弯曲运动的运动学建模，并提出了人工肌肉的视觉反馈控制。为了实现高速视觉反馈，我们研制了一个采样率为1 ms的视觉传感系统。最后，我们展示了机械手弯曲运动的视觉传感和运动学建模的实验结果。
We describe a two-dimensional (2-D) multi-degree-of-freedom (DOF) robot manipulator made from a soft polymer gel actuator, which we call an artificial muscle. The independent voltage control of three segments of patterned electrodes on the artificial muscle enables independent partial bending motions of each segment and realizes a multi-DOF control of the manipulator. We introduce the kinematic modeling of these multi-DOF bending motions and propose visual feedback control of the artificial muscle. For high-speed visual feedback, we have developed a visual sensing system with a 1ms sampling rate. Finally, we show the experimental results of the visual sensing and kinematic modeling of the bending motions of the manipulator.