Trajectory Tracking Controls for a Two-Link Manipulator with Artificial Rubber Muscles

Sangho Jin; Keigo Watanabe; Masatoshi Nakamura

doi:10.1299/kikaic.59.2745

Trajectory Tracking Controls for a Two-Link Manipulator with Artificial Rubber Muscles

Sangho Jin, Keigo Watanabe, Masatoshi Nakamura

Research output: Contribution to journal › Article › peer-review

1 Citation (Scopus)

Abstract

Trajectory tracking control problems are described for a two-link robot manipulator with artificial rubber muscle actuators. Under the assumption that the so-called independent joint control is applied to the control system, the dynamic model for each link is identified as a linear second-order system with time lag by the step response. Tow control laws, the computed torque and optimal servo control methods, are designed and experimentally applied to the actual robot manipulator. The effectiveness of the proposed control method for the robot manipulator is illustrated through simulations and experiments.

Original language	English
Pages (from-to)	2745-2752
Number of pages	8
Journal	transactions of the japan society of mechanical engineers series c
Volume	59
Issue number	565
DOIs	https://doi.org/10.1299/kikaic.59.2745
Publication status	Published - 1993
Externally published	Yes

Keywords

Artificial Rubber Muscle
Computed Torque Control
Manipulator
Mechatronics and Robotics
Oil and Air Hydraulics
Optimal Control
Optimal Servo Control
Trajectory Tracking Control

ASJC Scopus subject areas

Mechanics of Materials
Mechanical Engineering
Industrial and Manufacturing Engineering

Access to Document

10.1299/kikaic.59.2745

Cite this

@article{df1f2803134e42e59b37bcfa228dd8bf,

title = "Trajectory Tracking Controls for a Two-Link Manipulator with Artificial Rubber Muscles",

abstract = "Trajectory tracking control problems are described for a two-link robot manipulator with artificial rubber muscle actuators. Under the assumption that the so-called independent joint control is applied to the control system, the dynamic model for each link is identified as a linear second-order system with time lag by the step response. Tow control laws, the computed torque and optimal servo control methods, are designed and experimentally applied to the actual robot manipulator. The effectiveness of the proposed control method for the robot manipulator is illustrated through simulations and experiments.",

keywords = "Artificial Rubber Muscle, Computed Torque Control, Manipulator, Mechatronics and Robotics, Oil and Air Hydraulics, Optimal Control, Optimal Servo Control, Trajectory Tracking Control",

author = "Sangho Jin and Keigo Watanabe and Masatoshi Nakamura",

year = "1993",

doi = "10.1299/kikaic.59.2745",

language = "English",

volume = "59",

pages = "2745--2752",

journal = "Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C",

issn = "0387-5024",

publisher = "Japan Society of Mechanical Engineers",

number = "565",

}

TY - JOUR

T1 - Trajectory Tracking Controls for a Two-Link Manipulator with Artificial Rubber Muscles

AU - Jin, Sangho

AU - Watanabe, Keigo

AU - Nakamura, Masatoshi

PY - 1993

Y1 - 1993

N2 - Trajectory tracking control problems are described for a two-link robot manipulator with artificial rubber muscle actuators. Under the assumption that the so-called independent joint control is applied to the control system, the dynamic model for each link is identified as a linear second-order system with time lag by the step response. Tow control laws, the computed torque and optimal servo control methods, are designed and experimentally applied to the actual robot manipulator. The effectiveness of the proposed control method for the robot manipulator is illustrated through simulations and experiments.

AB - Trajectory tracking control problems are described for a two-link robot manipulator with artificial rubber muscle actuators. Under the assumption that the so-called independent joint control is applied to the control system, the dynamic model for each link is identified as a linear second-order system with time lag by the step response. Tow control laws, the computed torque and optimal servo control methods, are designed and experimentally applied to the actual robot manipulator. The effectiveness of the proposed control method for the robot manipulator is illustrated through simulations and experiments.

KW - Artificial Rubber Muscle

KW - Computed Torque Control

KW - Manipulator

KW - Mechatronics and Robotics

KW - Oil and Air Hydraulics

KW - Optimal Control

KW - Optimal Servo Control

KW - Trajectory Tracking Control

UR - http://www.scopus.com/inward/record.url?scp=0027663375&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0027663375&partnerID=8YFLogxK

U2 - 10.1299/kikaic.59.2745

DO - 10.1299/kikaic.59.2745

M3 - Article

AN - SCOPUS:0027663375

SN - 0387-5024

VL - 59

SP - 2745

EP - 2752

JO - Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C

JF - Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C

IS - 565

ER -

Trajectory Tracking Controls for a Two-Link Manipulator with Artificial Rubber Muscles

Abstract

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this