Mobile QR Code QR CODE : The Transactions of the Korean Institute of Electrical Engineers
Title Trajectory Tracking Control for a Robot Manipulator with Artificial Muscles
Authors Jin, Sang-Ho(Jin, Sang-Ho)
Page pp.485-492
ISSN 1975-8359
Keywords Aftifcial Muscle Actuator ; Trajectory Tracking ; Independent Joint Control ; Computed Torque Control
Abstract Trajectory tracking control porblems 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. Two control laws such as the feedforward and the computed torque control methods, are experimentally applied for controlling the circular trajectory of an actual robot mainpulator.