Title :
Design and Control Mechanisms for a 3 DOF Bionic Manipulator
Author :
Klug, Sebastian ; Von Stryk, Oskar ; Möhl, Bernhard
Author_Institution :
Fachbereich Simulation & Systemoptimierung, Technische Univ. Darmstadt
Abstract :
Functionality and design of a bionic robot arm consisting of three joints driven by elastic and compliant actuators derived from biologically inspired principles are presented. In the first design standard springs with linear characteristics are utilized in combination with electrical drives. Different control approaches for the bionic robot arm are presented, discussed and evaluated by numerical simulations and experiments with regards to the long-term goal of a nature-like control performance
Keywords :
actuators; ballistics; biocybernetics; biomimetics; electric drives; manipulator dynamics; mobile robots; springs (mechanical); ballistic movement; biologically inspired principle; bionic manipulator design; bionic robot arm; compliant actuator; control mechanism; electrical drive; joint control; linear characteristics; serial elastic actuator; spring design; trajectory optimization; Actuators; Biological control systems; Couplings; End effectors; Industrial control; Manipulators; Service robots; Springs; Stress; Trajectory;
Conference_Titel :
Biomedical Robotics and Biomechatronics, 2006. BioRob 2006. The First IEEE/RAS-EMBS International Conference on
Conference_Location :
Pisa
Print_ISBN :
1-4244-0040-6
DOI :
10.1109/BIOROB.2006.1639129
