Article In: 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
Key information
Authors:
Published in
April 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:
Jorge Manuel Mateus Martins
ist14135
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
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