Motion Control Method Based on Two-link Manipulator Model with Bi-articular Muscle Considering Planetary Gear

Abstract

This paper proposes a motion control method based on a model of a two-link manipulator considering musculoskeletal model. By using a planetary gear, the mono-articular and biarticular muscles are simulated in a two-link manipulator. This paper describes the precise plant model of two-link manipulator with bi-articular muscle. This model considers the interference between mono-articular and bi-articular muscles. The parameters of this model are decided from the preliminary experimental results to identify the parameters values. By using this model, the interference between mono-articular and bi-articular muscles is compensated. This paper shows the position control and force control considering this model is shown. Therefore, it is possible to conduct the precise motion control. The validity of the control methods considering this model was confirmed from the experimental results.