2015 Fiscal Year Final Research Report
Bilateral Control and Iterative Learning Control for Two-degree-of-freedom Robot Manipulators with Antagonistic Bi-articular Muscles
| Project/Area Number |
25420447
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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 |
Control engineering/System engineering
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| Research Institution | Kanazawa Institute of Technology (2015)
Waseda University (2013-2014) |
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Principal Investigator |
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| Project Period (FY) |
2013-04-01 – 2016-03-31
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| Keywords | 制御工学 / 学習制御 / 二関節筋 / バイラテラル制御 / 機械力学・制御 |
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| Outline of Final Research Achievements |
This paper investigates iterative learning control and bilateral control based on passivity for two-degree-of-freedom (2DOF) robot manipulators with antagonistic bi-articular muscles. Firstly, dynamics of 2DOF robot manipulators with antagonistic bi-articular muscles is presented to satisfy a passivity property. Next, we design feedback controls for the bi-articular manipulator based on the passivity. Finally, simulation and experimental results are presented in order to confirm the effectiveness of the proposed iterative learning control law.
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| Free Research Field |
ロボット制御
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