Nonlinear neuromuscular control for robot compliance control

Abstract

A nonlinear neuromuscular control with nonlinear damping is developed. To explore possible robotic applications, the complaints capability of the model is demonstrated through movements of a PUMA 560 robot. To command the neuromuscular control robot, patterns of motor commands for coordinating multiple joints are studied. To demonstrate free motion, different reaching and whipping movements involving coupling dynamics are simulated with the PUMA 560. Different constrained movements are also demonstrated with the PUMA, showing that the neuromuscular control has very good compliant capability by adapting to the constrained environment.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>