Control of a straight line motion for a two-link robot arm using coordinate transform of bi-articular simultaneous drive

2010 11th IEEE International Workshop on Advanced Motion Control (AMC) Pub Date : 2010-03-21 DOI:10.1109/AMC.2010.5464030

Hiroyuki Fukusho, T. Koseki, Takahiro Sugimoto

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引用次数: 20

Abstract

There are some difference between biological subjects and conventional humanoid robots from the point of its mechanisms, control method, and application of the biological characteristics to humanoid robots are now being popular. Motion control for 2-link robot arm on specific condition are mainly discussed in this paper. From the point of mechanism, biological subjects have two joints simultaneous drive. Though benefits and characteristics of the mechanism on static condition have already cleared from the measurement of previous research, it has been calculated and discussed mathematically in this paper. In addition, dynamic motion control of a specific condition has been also calculated and considered. Furthermore, designing of each actuator torque which is based on the Electromiogram result and its control for external force on the tip point is concretely described. Finally, those characteristics of static and dynamic motions with bi-articular simultaneous drive on specific condition are summarized.

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双关节同步驱动的坐标变换控制双连杆机械臂直线运动

生物学科与传统的仿人机器人在机理、控制方法等方面有一定的区别，将生物特性应用于仿人机器人是目前的热点。本文主要研究了特定条件下二连杆机械臂的运动控制问题。从机理上看，生物主体具有两个关节同时驱动。虽然在以往研究的测量中已经明确了该机构在静态条件下的效益和特点，但本文对其进行了数学计算和讨论。此外，还对特定条件下的动态运动控制进行了计算和考虑。在此基础上，具体描述了基于电图结果的各致动器转矩设计及其对尖端处外力的控制。最后，总结了双关节同步驱动在特定条件下的静态和动态运动特点。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2010 11th IEEE International Workshop on Advanced Motion Control (AMC)

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