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Development of simplified statics of robot manipulator and optimized muscle torque distribution based on the statics | IEEE Conference Publication | IEEE Xplore

Development of simplified statics of robot manipulator and optimized muscle torque distribution based on the statics


Abstract:

Statics for a two-link manipulator is re-derived based on the biarticular muscle coordinate in this paper. Torques of two joint-motors to generate a certain force at the ...Show More

Abstract:

Statics for a two-link manipulator is re-derived based on the biarticular muscle coordinate in this paper. Torques of two joint-motors to generate a certain force at the endeffector can be calculated in a simple trigonometric function form. A H infinity optimization algorithm is applied to the redundancy problem and minimizes the necessary torque for each muscle. This algorithm can generate novel torque patterns whose peak values are minimized and the maximum torque of the actuators can be set small. The suggested statics provides not only insight to the robot design, but also some interpretation to our body's muscle activation strategy.
Date of Conference: 29 June 2011 - 01 July 2011
Date Added to IEEE Xplore: 18 August 2011
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Conference Location: San Francisco, CA, USA

References

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