scholarly journals Robot Arm-Child Interactions: A Novel Application Using Bio-Inspired Motion Control

Robot Arms ◽  
10.5772/16704 ◽  
2011 ◽  
Author(s):  
Tanya N. ◽  
Alejandro Ramirez-Serrano
Keyword(s):  
Motion Control ◽  
Robot Arm

Motion control of meal-assistance based on a five-axis modular robot arm

2013 ◽  
pp. 321-324
Author(s):  
Ying-Shieh Kung ◽  
Ming-Shyan Wang ◽  
Chien-Ming Huang ◽  
Bui Linh ◽  
Tz-Han Jung
Keyword(s):  
Motion Control ◽  
Robot Arm ◽  
Modular Robot ◽  
Five Axis

Grasp Transfer Control Using Cartesian Coordinate Two-Link Robot Arm with Prototype Robot Hand Consisting of Stepping Motors, Gears and Plate Springs

2008 ◽  
Vol 2 (5) ◽  
pp. 360-367
Author(s):  
Ping Han ◽  
◽  
Hiroyuki Kojima ◽  
Lingfang Huang ◽  
Saputra Meruadi ◽  
...  
Keyword(s):  
Control System ◽  
Numerical Simulations ◽  
Permanent Magnet ◽  
Motion Control ◽  
Force Control ◽  
Feedforward Control ◽  
Robot Hand ◽  
Robot Arm ◽  
Grasp Force ◽  
Cartesian Coordinate

In this study, the grasp transfer control system by a Cartesian coordinate two-link robot arm with a prototype robot hand is presented. The prototype robot hand consists of permanent-magnet-type stepping motors, gears and plate springs. The grasp force control of the robot hand is performed by a feedforward control of the stepping motors based on the dimension of a grasped object. The Cartesian coordinate two-link robot arm consists of ball screws and hybrid stepping motors. Then the numerical simulations and experiments of the grasp transfer control have been carried out, and it is confirmed that the grasp transfer control could be successfully performed, and the grasp force could be accurately controlled among the motion control of the Cartesian coordinate two-link robot arm.

D39 Proposal of a multistage Tensegric robot arm and its motion control

2013 ◽  
Vol 2013.13 (0) ◽  
pp. _D39-1_-_D39-8_
Author(s):  
Kazuhiro MIYASHITA ◽  
Akira SHIRAHAMA ◽  
Toru WATANABE
Keyword(s):  
Motion Control ◽  
Robot Arm

Choice of Muscular Forces for Motion Control of a Robot Arm with Biarticular Muscles

2019 ◽  
Vol 31 (1) ◽  
pp. 143-155 ◽  
Author(s):  
Tetsuya Morizono ◽  
Kenji Tahara ◽  
Hitoshi Kino ◽  
◽  
Keyword(s):  
Motion Control ◽  
Robot Arm ◽  
Joint Torques ◽  
Moment Arms ◽  
Robot Arms ◽  
Biarticular Muscles ◽  
Kinetic Interaction ◽  
Simulation Results ◽  
Articulated Robot ◽  
Point To Point

The contribution of biarticular muscles to the control of robotic arms and legs has recently attracted great interest in the field of robotics. The advantages of using biarticular muscles under kinetic interaction with the external environment have been well studied; however, the contribution of the muscles to the motion control of articulated robot arms under no kinetic interaction appears to remain an unclear issue, especially for robot arms of which the muscles are directly anchored to their links, which induces a change in the moment arms to allow the muscles to generate joint torques and permit point-to-point motion control to their desired postures in a feedforward manner with constant muscular forces. This paper presents a case study in which the role of biarticular muscles in the motion control of an articulated robot arm was investigated, focusing on the feature of its redundancy actuation, which allows an arbitrary choice from infinite combinations of muscular forces, realizing motion control to a desired posture. The numerical analysis in this paper addresses three typical combination choices. Mappings from muscular forces to desired postures are calculated in the analysis of the three choices. The simulation results of motion control executed according to the three mappings are also analyzed. The analysis indicates the interesting results that biarticular muscles do not contribute to the desired postures and that a very weak dependence property of monoarticular muscles on the desired postures exists for a particular choice. The simulation results also demonstrate that the implementation of one choice results in a degraded motion control performance as compared with that of the two other choices.

Sign in / Sign up

Export Citation Format

Share Document