Artigo De: orcid
Fractional control of a 7-DOF robot to behave like a human arm
Progress in Fractional Differentiation and Applications
— 2019 — Natural Sciences Publishing Co
Informações chave
Autores:
Publicado em
Abril 2019
Resumo
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.
Detalhes da publicação
Autores da comunidade :
Jorge Manuel Mateus Martins
ist14135
Versão da publicação
VoR - Versão publicada
Editora
Natural Sciences Publishing Co
Ligação para a versão da editora
https://www.naturalspublishing.com/files/published/86i2p6tnc36d89.pdf
Título do contentor da publicação
Progress in Fractional Differentiation and Applications
Primeira página ou número de artigo
99
Última página
110
Volume
5
Fascículo
2
Domínio Científico (FOS)
mechanical-engineering - Engenharia Mecânica
Palavras-chave
- Human arm
- surgical robotics
- fractional control
Idioma da publicação (código ISO)
eng - Inglês
Acesso à publicação:
Acesso apenas a metadados