Control of a straight line motion for a two-link robot arm using coordinate transform of bi-articular simultaneous drive

摘要

There are some difference between biological subjects and conventional humanoid robots from the point of its mechanisms, control method, and application of the biological characteristics to humanoid robots are now being popular. Motion control for 2-link robot arm on specific condition are mainly discussed in this paper. From the point of mechanism, biological subjects have two joints simultaneous drive. Though benefits and characteristics of the mechanism on static condition have already cleared from the measurement of previous research, it has been calculated and discussed mathematically in this paper. In addition, dynamic motion control of a specific condition has been also calculated and considered. Furthermore, designing of each actuator torque which is based on the Electromiogram result and its control for external force on the tip point is concretely described. Finally, those characteristics of static and dynamic motions with bi-articular simultaneous drive on specific condition are summarized.