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Modelling and control of a human-like arm incorporating muscle models

This article focuses on the modelling and control of a two-link planar mechanical manipulator that emulates a human arm. The simplicity of the control algorithm and its ease of computation are particularly highlighted in this study. The arm is subjected to a vibratory excitation at a specific locati...

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Main Authors:	Mailah, M., Jahanabadi, H., Zain, M. Z. M., Priyandoko, G.
Format:	Article
Published:	Professional Engineering Publishing Ltd. 2009
Subjects:	TJ Mechanical engineering and machinery
Online Access:	http://eprints.utm.my/id/eprint/12977/ http://dx.doi.org/10.1243/09544062JMES1289
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id	my.utm.12977
record_format	eprints
spelling	my.utm.129772011-07-10T06:00:15Z http://eprints.utm.my/id/eprint/12977/ Modelling and control of a human-like arm incorporating muscle models Mailah, M. Jahanabadi, H. Zain, M. Z. M. Priyandoko, G. TJ Mechanical engineering and machinery This article focuses on the modelling and control of a two-link planar mechanical manipulator that emulates a human arm. The simplicity of the control algorithm and its ease of computation are particularly highlighted in this study. The arm is subjected to a vibratory excitation at a specific location on the arm while performing trajectory tracking tasks in two-dimensional space, taking into account the presence of 'muscle' elements that are mathematically modelled. A closed-loop control system is applied using an active force control strategy to accommodate the disturbances based on a predefined set of loading and operating conditions to observe the system responses. Results of the study imply the effectiveness of the proposed method in compensating the vibration effect to produce robust and accurate tracking performance of the system. The results may serve as a useful tool in aiding the design and development of a tooling device for use in a mechatronic robot arm or even human arm (smart glove) where precise and/or robust performance is a critical factor and of considerable importance. Professional Engineering Publishing Ltd. 2009-07-01 Article PeerReviewed Mailah, M. and Jahanabadi, H. and Zain, M. Z. M. and Priyandoko, G. (2009) Modelling and control of a human-like arm incorporating muscle models. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 223 (7). pp. 1569-1577. ISSN 0954-4062 http://dx.doi.org/10.1243/09544062JMES1289 doi:10.1243/09544062JMES1289
institution	Universiti Teknologi Malaysia
building	UTM Library
collection	Institutional Repository
continent	Asia
country	Malaysia
content_provider	Universiti Teknologi Malaysia
content_source	UTM Institutional Repository
url_provider	http://eprints.utm.my/
topic	TJ Mechanical engineering and machinery
spellingShingle	TJ Mechanical engineering and machinery Mailah, M. Jahanabadi, H. Zain, M. Z. M. Priyandoko, G. Modelling and control of a human-like arm incorporating muscle models
description	This article focuses on the modelling and control of a two-link planar mechanical manipulator that emulates a human arm. The simplicity of the control algorithm and its ease of computation are particularly highlighted in this study. The arm is subjected to a vibratory excitation at a specific location on the arm while performing trajectory tracking tasks in two-dimensional space, taking into account the presence of 'muscle' elements that are mathematically modelled. A closed-loop control system is applied using an active force control strategy to accommodate the disturbances based on a predefined set of loading and operating conditions to observe the system responses. Results of the study imply the effectiveness of the proposed method in compensating the vibration effect to produce robust and accurate tracking performance of the system. The results may serve as a useful tool in aiding the design and development of a tooling device for use in a mechatronic robot arm or even human arm (smart glove) where precise and/or robust performance is a critical factor and of considerable importance.
format	Article
author	Mailah, M. Jahanabadi, H. Zain, M. Z. M. Priyandoko, G.
author_facet	Mailah, M. Jahanabadi, H. Zain, M. Z. M. Priyandoko, G.
author_sort	Mailah, M.
title	Modelling and control of a human-like arm incorporating muscle models
title_short	Modelling and control of a human-like arm incorporating muscle models
title_full	Modelling and control of a human-like arm incorporating muscle models
title_fullStr	Modelling and control of a human-like arm incorporating muscle models
title_full_unstemmed	Modelling and control of a human-like arm incorporating muscle models
title_sort	modelling and control of a human-like arm incorporating muscle models
publisher	Professional Engineering Publishing Ltd.
publishDate	2009
url	http://eprints.utm.my/id/eprint/12977/ http://dx.doi.org/10.1243/09544062JMES1289
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score	13.211869

Modelling and control of a human-like arm incorporating muscle models

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