Paper Info
Title
A Control Method for a 3DOF Bi-articular Manipulator towards Robotic Rehabilitation.
Abstract
This paper investigates passivity-based control for a 3DOF manipulator with antagonistic bi-articular muscles towards robotic rehabilitation. The dynamics of a 3DOF manipulator with antagonistic bi-articular muscles is obtained from the 3DOF standard robot dynamics and the visco-elastic muscle model. In our approach, we design a input torque for the 3DOF bi-articular manipulator to preserve the passivity property. Stability analysis for the closed-loop system of the constructed error system and the proposed control law is discussed through Lyapunov stability theorem.
Year
DOI
Venue
2018
10.1109/GCCE.2018.8574621
IEEE Global Conference on Consumer Electronics
Keywords
Field
DocType
robot control,antagonistic bi-articular muscles,passivity,stability,three-degree-of-freedom manipulator
Passivity,Robot control,Rehabilitation,Torque,Computer science,Control theory,Manipulator,Lyapunov stability,Robot
Conference
ISSN
Citations 
PageRank 
2378-8143
0
0.34
References 
Authors
0
4
Name
Order
Citations
PageRank
Kazumasa Kobayashi100.34
Toshiyuki Murao2186.80
Hiroyuki Kawai3279.11
Ryoichi Suzuki403.38