3 research outputs found
Upravljanje silom miÅ”iÄno-koÅ”tanog manipulatora pogonjenog spiralnim motorom
This paper presents force control of musculoskeletal manipulator driven by spiral motors. The kinematic and dynamic properties are shown to address the presence of ennvironmental contact with the manipulator. From this contact, the force control schemes were explored, by comparing between monoarticular-only structure and biarticular structure manipulator. Force control schemes were divided into independent muscle control, end effector step force command, and muscular viscoelasticity control. The results show advantages of biarticular actuation compared to monoarticular-only actuation in the feasibility of magnetic levitation (gap) control alongside force control.U ovome radu predstavljeno je upravljanje silom miÅ”iÄno-koÅ”tanog manipulatora pogonjenog spiralnim motorom. KinematiÄka i dinamiÄka svojstva prikazuju prisutnost kontakta manipulatora s okolinom. Na temelju kontakta istraženo je upravljanje silom usporedbom jednozglobne i dvozglobne strukture manipulatora. Upravljanje silom podijeljeno je u neovisno upravljanje miÅ”iÄima, upravljanje alatom manipulatora (eng. end effector) i upravljanje miÅ”iÄnom viskoelastiÄnosti. Rezultati pokazuju prednost dvozglobne strukture u odnosu na jednozglobnu u smislu izvedivosti upravljanja magnetskom levitacijom pored upravljanja silom