t.is paper invest.gat.s open-loop cont.ol, which does not.need t.e joint.angles and velocit.es, for t.o degree of freedom(2DOF) robot.manipulat.rs wit. ant.gonist.c bi-art.cular muscles which are passing over adjacent...
ISBN:
(纸本)9781467345033
t.is paper invest.gat.s open-loop cont.ol, which does not.need t.e joint.angles and velocit.es, for t.o degree of freedom(2DOF) robot.manipulat.rs wit. ant.gonist.c bi-art.cular muscles which are passing over adjacent.t.o joint. and act.ng t.e bot. joint. simult.neously. t.e manipulat.r dynamics of t.ree muscle t.rques, we call t.e bi-art.cular manipulat.r dynamics, is const.uct.d in order t.designt.e cont.ol input. St.bilit. analysis wit. respect.t. our proposed cont.ol law is discussed based on t.e Lyapunov met.od. Our approach is inspired by t.e fact.t.at.humans do not.measure t.e joint.angles and velocit.es explicit.y, Finally, simulat.on result. are shown in order t. confirm t.e proposed met.od and given a design procedure in order t. assign t.e t.ning paramet.r.
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