Two-link musculoskeletal structure workspace force control

Muhamad Yusazlan , Yusof (2014) Two-link musculoskeletal structure workspace force control. Project Report. UTeM. (Submitted)

Text TWO-LINK MUSCULOSKELETAL STRUCTURE WORKSPACE FORCE CONTROL 24pages.pdf Download (459kB)

Abstract

This project presents the force control for two-link musculoskeletal manipulator modeling where force control had been used to control the force at end-effectors while end effector of the manipulator touching the environment. Proper force control algorithm for two-link musculoskeletal manipulator had been developed and simulated by using a robotic dynamics simulator. All the kinematic and dynamic properties are shown to address the presence of environmental contact with the manipulator. From this contact, the force control algorithm were explored, by comparing the performance of the manipulator in term of settling time and accuracy when different force references have been given. Force control algorithm were divided into two types which is independent muscle control and end effector muscle control. The results for independent muscle control show the increment of force references will make the force applied to the end effector and muscles increased. Meanwhile, for end effector muscle control, the result shows the maximum force applied to the manipulator increased if the reference forces increased but through this it will also improve the settling time of force that had been applied to each muscles in the manipulator.

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