Title :
Controller design of a manipulator with human multi-joint arm-like viscoelastic properties
Author :
Deng, Mingcong ; Wang, Aihui
Author_Institution :
Dept. of Electr. & Electron. Eng., Tokyo Univ. of Agric. & Technol., Tokyo, Japan
Abstract :
In this paper, a controller of a manipulator is designed using time-varying viscoelastic properties during human multi-joint arm movements and a modified forward gaze model. A feedback controller is designed to obtain desired motions based on real measured data from viscoelastic properties of human multi-joint arm, and a modified forward gaze model is used to model dynamics of central nervous system (CNS). The effectiveness of the proposed method is confirmed by the simulation results.
Keywords :
control system synthesis; dexterous manipulators; feedback; time-varying systems; viscoelasticity; central nervous system; feedback controller; human multijoint arm-like viscoelastic properties; manipulator controller design; modified forward gaze model; time-varying viscoelastic properties; Humans; Jacobian matrices; Joints; Manipulators; Torque; Trajectory; Viscosity; Human multi-joint arm; central nervous system; modified forward gaze model; viscoelastic properties;
Conference_Titel :
SICE Annual Conference (SICE), 2011 Proceedings of
Conference_Location :
Tokyo
Print_ISBN :
978-1-4577-0714-8
