• DocumentCode
    3316439
  • Title

    Reflex-like control for the coupled tendon-driven manipulator

  • Author

    Endo, Hiroshi ; Wada, Mitsuo

  • Author_Institution
    Nat. Inst. of Biosci. & Human Technol., Ibaraki, Japan
  • Volume
    3
  • fYear
    1994
  • fDate
    12-16 Sep 1994
  • Firstpage
    1810
  • Abstract
    The reflex-like feedback control similar to a spinal reflex of the human muscular control system is applied to the tendon-driven manipulator. The reflex-like control is realized by the state feedback of driving force, joint angle and angular velocity. The effects of the reflex-like control are discussed by an analysis of a linearized model and the simulation of a nonlinear system. It is found that the reflex-like feedback is effective in stabilizing the system and in reducing the interaction
  • Keywords
    angular velocity control; force control; manipulators; nonlinear systems; stability; state feedback; angular velocity; joint angle; linearized model; nonlinear system; reflex-like feedback control; stabilization; state feedback; tendon-driven manipulator; Analytical models; Angular velocity; Angular velocity control; Control systems; Feedback control; Force control; Force feedback; Humans; Nonlinear control systems; State feedback;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on
  • Conference_Location
    Munich
  • Print_ISBN
    0-7803-1933-8
  • Type

    conf

  • DOI
    10.1109/IROS.1994.407613
  • Filename
    407613
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3316439