2013 Fiscal Year Final Research Report
Force position concurrency control method with safety-drive of bi-articular muscle drive arm robot
| Project/Area Number |
23560321
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Power engineering/Power conversion/Electric machinery
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| Research Institution | Nagaoka University of Technology |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
大石 潔 長岡技術科学大学, 工学部, 教授 (40185187)
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| Co-Investigator(Renkei-kenkyūsha) |
漆原 史郎 香川高等専門学校, 電気情報工学科, 准教授 (90311092)
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| Project Period (FY) |
2011 – 2013
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| Keywords | ２関節筋 / 遊星歯車機構 / ロボットアーム |
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| Research Abstract |
i-articular muscle is an important muscles to drive the limbs of a human. Three antagonistic muscle pair is formed by six muscles. Combination of the two single-joint and bi-articular muscles, has been defined as FEMS (muscle function enabled). Combining a planetary gear mechanism, the rotary motor 3, using the 3-input 2-output, how to configure the bi-articular muscles have already been proposed. I proposed a position damping control of the robot arm was used the two joint robot arm. I proposed about the force control system of the robot arm.
Finally, I have proposed a force position concurrency control method using bi-articular muscles can compensate the gravity and the positional deviation of the arm tip. I was confirmed by experiments effectiveness of the proposed system.
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