Modelling and control of a human-like arm incorporating muscle models

Abstract This article focuses on the modelling and control of a two-link planar mechanical manipulator that emulates a human arm. The simplicity of the control algorithm and its ease of computation are particularly highlighted in this study. The arm is subjected to a vibratory excitation at a specif...

Full description

Saved in:
Bibliographic Details
Published in:Proceedings of the Institution of Mechanical Engineers. Part C, Journal of mechanical engineering science Journal of mechanical engineering science, 2009-07, Vol.223 (7), p.1569-1577
Main Authors: Mailah, M, Jahanabadi, H, Zain, M Z M, Priyandoko, G
Format: Article
Language:English
Subjects:
Active control
Algorithms
Arms
Control systems
Control theory
Design engineering
Disturbances
Excitation
Human performance
Mathematical models
Mechanical engineering
Robotics
Robustness (mathematics)
Tooling
Tracking
Trajectories
Vibration
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:Abstract This article focuses on the modelling and control of a two-link planar mechanical manipulator that emulates a human arm. The simplicity of the control algorithm and its ease of computation are particularly highlighted in this study. The arm is subjected to a vibratory excitation at a specific location on the arm while performing trajectory tracking tasks in two-dimensional space, taking into account the presence of ‘muscle’ elements that are mathematically modelled. A closed-loop control system is applied using an active force control strategy to accommodate the disturbances based on a predefined set of loading and operating conditions to observe the system responses. Results of the study imply the effectiveness of the proposed method in compensating the vibration effect to produce robust and accurate tracking performance of the system. The results may serve as a useful tool in aiding the design and development of a tooling device for use in a mechatronic robot arm or even human arm (smart glove) where precise and/or robust performance is a critical factor and of considerable importance.
ISSN:0954-4062
2041-2983
DOI:10.1243/09544062JMES1289