Equilibrium point control of a 2-DOF manipulator

Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME

Volumn 128, Issue 1, 2006, Pages 134-141

  Clapa, Damien J ^a   Croft, Elizabeth A ^b   Hodgson, Antony J ^b  

^a WESTPORT INNOVATIONS INC   (Canada)

^b UNIVERSITY OF BRITISH COLUMBIA   (Canada)

Author keywords

Air muscles; Equilibrium point control; Humanrobot interaction; McKibben actuators; Programmable mechanical compliance

Indexed keywords

BIOMIMETIC MATERIALS; CONTROLLABILITY; HUMAN COMPUTER INTERACTION; LINEAR CONTROL SYSTEMS; ROBOTS;

AIR MUSCLES; EQUILIBRIUM POINT CONTROL; HUMANROBOT INTERACTION; MCKIBBEN ACTUATORS; PROGRAMMABLE MECHANICAL COMPLIANCE;

MANIPULATORS;

EID: 33646376710     PISSN: 00220434     EISSN: None     Source Type: Journal    
DOI: 10.1115/1.2168474     Document Type: Article

References (26)

1. Ikuta, K., and Nokata, M., 2003, "Safety Evaluation Method of Design and Control for Human-Care Robots," Int. J. Robot. Res., 22, pp. 281-297.
2. Yamada, Y., Hirawawa, Y., Huang, S., Umetani, Y., and Suita, K., 1997, "Human-Robot Contact in the Safeguarding Space," Mechatronics, 2, pp. 230-236.
3. Bicchi, A., Rizzino, S., and Tonietti, G., 2001, "Compliant Design for Intrinsic Safety: General Issues and Preliminary Design," Intelligent Robots and Systems, 2001, Proc. of 2001 IEEE/RSJ International Conference on. IEEE, New York, Vol. 4, pp. 1864-1869.
4. Sciavicco, L., and Siciliano, B., 1996, Modeling and Control of Robot Manipulators, McGraw-Hilf, New York.
5. Okada, M., Nakamura, Y, and Ban, S., 2001, "Design of a Programmable Passive Compliance Shoulder Mechanism," Proc. IEEE International Conference on Robotics and Automation, IEEE, New York, pp. 348-353.
6. Robinson, D. W., Pratt, J. E., Paluska, D. J., and Pratt, G. A., 1999, "Series Elastic Actuator Development for a Biomimetic Walking Robot," Proc. IEEE/ ASME International Conference on Advanced Intelligent Mechatronics, IEEE, New York, pp. 561-568.
7. Mills, J. K., and David, M. L., 1993, "Control of Robotic Manipulators During General Task Execution: A Discontinuous Control Approach," Int. J. Robot. Res., 12(2), pp. 146-163.
8. Bicchi, A., Rizzino, S., and Tonietti, G., 2001, "Adaptive Simultaneous Position and Stiffness Control of a Soft Robot Arm," Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, New York, Vol. 4, pp. 1992-1997.
9. Colbrunn. R. W., Nelson, G. M., and Quinn, R. D., 2001, "Design and Control of a Robotic Leg With Braided Pneumatic Actuators," Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, New York, Vol. 2, pp. 992-998.
10. Noritsugu, T., and Tanaka, T., 1997, "Applications of Rubber Artificial Muscle Manipulator as a Rehabilitation Robot," Mechatronics, 2(4), pp. 259-267.
11. Tondu, B., Boitier, V, and Lopez, P., 1994, "Naturally Compliant Robot-Arms Actuated By McKibben Artificial Muscles," Proc. IEEE International Conference on Systems. Man and Cybernetics, San Antonio, IEEE. New York, Vol. 3, pp. 2635-2640.
12. Goswami, A., and Peshkin, M. A., 1993, "Mechanical Computation for Passive Force Control," Proc. IEEE International Conference on Robotics and Automation, Vol. 1, pp. 476-438.
13. Schimmels, J. M., and Peshkin, J. A., 1992, "Admittance Matrix Design for Force-Guided Assembly," IEEE Trans. Rob. Autom., 8(2), pp. 213-227.
14. Lin, Q., Burdick, J. W., and Rimon, E., 2000, "A Stiffness-Based Quality Measure for Compliant Grasps and Fixtures," IEEE Trans. Rob. Autom., 16(6), pp. 675-688.
15. Chen, S.-F., and Kao, I., 2000, "Conservative Congruence Transformation for Joint and Cartesian Stiffness Matrices of Robotic Hands and Fingers," Int. J. Robot. Res., 19(9), pp. 835-847.
16. Patterson, T., and Lipkin, H., 1993, "A Classification of Robot Compliance," J. Mech. Des., 155(3), pp. 581-584.
17. Tondu, B., and Lopez, P., 2000, "Modeling and Control of McKibben Artificial Muscle Robot Actuators," IEEE Control Syst. Mag., 20, April, pp. 15-38.
18. Medrano-Cerda, G. A., Bowler, C. J., Caldwell, D. G., 1995, "Adaptive Position Control of Antagonistic Pneumatic Muscle Actuators," Proc. IEEE International Conference on Intelligent Robots and Systems, Vol. 1, pp. 378-383.
19. Klute.G. K., Czernieckj, J. M., and Hannaford, B., 1999, "McKibben Artificial Air Muscles: Pneumatic Actuators with Biomechanical Intelligence," Proc. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, IEEE, New York, pp. 221-226.
20. Bizzi, E., Hogan, N., Mussaivaldi, F. O., and Giszler, S., 1992, "Does the Nervous System use Equilibrium-Point Control to Guide Single and Multiple Joint Movements?," Behav. Brain Sci., 15, pp. 603-615.
21. Feldman, A., and Levin, M., 1995, "The Origin and Use of Positional Frame of Reference in Motor Control," Behav. Brain Sci., 18, pp. 723-806.
22. Clapa, D., 2004, "Equilibrium Point Control of a Programmable Mechanical Compliant Manipulator," M.A.Sc. thesis, Department of Mechanical Engineer-ing, University of British Columbia.
23. http://www.matrix.to.it/pd003.htm
24. Chou, C. P., and Hannaford, B., 1996, "Measurement and Modeling of Artificial Muscles," IEEE Trans. Rob. Autom., 12, pp. 90-102.
25. Tsagarakis, N., and Caldwell, D. G., 2000, "Improved Modelling and Assessment of Pneumatic Muscle Actuators," Proc. IEEE International Conf. on Robotics and Automation, IEEE, New York, pp. 3641-3646.
26. Tee, K. P., Burdet, E., Chew, C. M., and Milner, T. E., 2004, "A Model of Force and Impedance in Human Arm Movements," Biol. Cybern., 90, pp. 368-375.