Title :
Reflex-like control for the coupled tendon-driven manipulator
Author :
Endo, Hiroshi ; Wada, Mitsuo
Author_Institution :
Nat. Inst. of Biosci. & Human Technol., Ibaraki, Japan
Abstract :
The reflex-like feedback control similar to a spinal reflex of the human muscular control system is applied to the tendon-driven manipulator. The reflex-like control is realized by the state feedback of driving force, joint angle and angular velocity. The effects of the reflex-like control are discussed by an analysis of a linearized model and the simulation of a nonlinear system. It is found that the reflex-like feedback is effective in stabilizing the system and in reducing the interaction
Keywords :
angular velocity control; force control; manipulators; nonlinear systems; stability; state feedback; angular velocity; joint angle; linearized model; nonlinear system; reflex-like feedback control; stabilization; state feedback; tendon-driven manipulator; Analytical models; Angular velocity; Angular velocity control; Control systems; Feedback control; Force control; Force feedback; Humans; Nonlinear control systems; State feedback;
Conference_Titel :
Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on
Conference_Location :
Munich
Print_ISBN :
0-7803-1933-8
DOI :
10.1109/IROS.1994.407613
