Coordination control of bi-articular robotic arm by motor drive with planetary gear

Abstract

The application of the actuator to the robot that has a peculiar control function and output properties as seen in the living is expected. This paper shows two-joint robot arm system by motor drive with the planetary gear. The distribution at the end of arm is clarified. Moreover, to make better the ability of the actuator, higher force can be put out around the tip with the aid of the function of bi-articular muscle.