Paper Info
Title
Development and control of 7-DOF artificial muscle manipulator considering redundancy
Abstract
Recently, a robot's activity has been spreading into the care setting and homes. For these robots to work alongside humans requires them to have the same flexibility as that of the human muscle and ensure safety even if they collide with humans. To satisfy these requirements, we examined pneumatic artificial muscles-which are not only provide high output but are also light, flexible, and safe-as robot actuators. However, the commonly used McKibben-type artificial muscles have several drawbacks. Therefore, we developed straight-fiber-type artificial muscles, which have a contraction ratio and force that surpasses those of McKibben-type artificial muscles. We also developed a 6-DOF manipulator that is actuated by straight-fiber-type artificial muscles. However, since the DOF of this manipulator is less than that of the human arm, it is difficult for the end effector to make detailed movements. To solve this problem, we developed a 7-DOF manipulator, introducing a new mechanism in the joints. In this paper, we introduce a new restraint condition to the inverse kinematic computation of this manipulator and propose the method of redundancy use. Finally, we conduct an experiment following the trajectory and verify the effectiveness of the proposed method.
Year
DOI
Venue
2013
10.1109/IECON.2013.6699791
Vienna
Keywords
Field
DocType
electroactive polymer actuators,end effectors,manipulator kinematics,pneumatic actuators,7-dof artificial muscle manipulator control,7-dof artificial muscle manipulator development,mckibben-type artificial muscles,contraction ratio,end effector,inverse kinematic computation,pneumatic artificial muscles,redundancy use method,restraint condition,robot actuators,straight-fiber-type artificial muscles,7-dof manipulator,pneumatic artificial muscle
Parallel manipulator,Kinematics,Pneumatic actuator,Control theory,Control engineering,Robot end effector,Redundancy (engineering),Engineering,Robot,Artificial muscle,Trajectory
Conference
ISSN
Citations 
PageRank 
1553-572X
0
0.34
References 
Authors
0
4
Name
Order
Citations
PageRank
T. Watanabe125251.28
Tanaka, D.200.34
Kamo, D.300.34
Taro Nakamura43728.99