Article In: orcid, scopus

Fractional control of a 7-DOF robot to behave like a human arm

Progress in Fractional Differentiation and Applications

Ventura A.; Tejado I.; Martins J. — 2019 — Natural Sciences Publishing Co

Key information

Authors:

Ventura A.; Tejado I.; Valério D. (Duarte Pedro Mata de Oliveira Valério); Martins J. (Jorge Manuel Mateus Martins)

Published in

January 1, 2019

Abstract

Endowing robots with the ability to closely collaborate with humans is an important challenge of robotics. For this purpose, systems are required that behave in a manner humans are comfortable with, and mimicking the way another human would behave is a good choice. This paper presents simulation results of how a KUKA LWR IV robot with 7 degrees of freedom (DOF) can be made to behave like a human arm, having surgical (e.g. orthopedic) applications in view. This performance is achieved using a fractional order transfer function model of the arm, which have been presented in previous papers. Results are satisfactory and could not be obtained using only the control features provided with the robot.

Publication details

Authors in the community:

Publication version

VoR - Version of Record

Publisher

Natural Sciences Publishing Co

Link to the publisher's version

https://www.naturalspublishing.com/files/published/86i2p6tnc36d89.pdf

Title of the publication container

Progress in Fractional Differentiation and Applications

First page or article number

99

Last page

110

Volume

5

Issue

2

DOI

10.18576/PFDA/050202

Fields of Science and Technology (FOS)

mechanical-engineering - Mechanical engineering

Keywords

  • Human arm
  • surgical robotics
  • fractional control

Publication language (ISO code)

eng - English

Rights type:

Only metadata available

Financing entity

Fundação para a Ciência e a Tecnologia

Identifier for the funding entity: UID/EMS/50022/2019