Design and Control Mechanisms for a 3 DOF Bionic Manipulator

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