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Design and Control Mechanisms for a 3 DOF Bionic Manipulator

Klug, Sebastian and Stryk, Oskar von and Möhl, Bernhard (2006):
Design and Control Mechanisms for a 3 DOF Bionic Manipulator.
Pisa, Italy, In: 1st IEEE / RAS-EMBS Intl. Conf. on Biomedical Robotics and Biomechatronics (BioRob), Pisa, Italy, [Conference or Workshop Item]

Abstract

Functionality and design of a bionic robot arm consisting of three joints driven by elastic and compliant actuators derived from biologically inspired principles are presented. In the first design standard springs with linear characteristics are utilized in combination with electrical drives. Different control approaches for the bionic robot arm are presented, discussed and evaluation in numerical simulations and experiments with regards to the long-term goal of a natural-like control perfomance.

Item Type: Conference or Workshop Item
Erschienen: 2006
Creators: Klug, Sebastian and Stryk, Oskar von and Möhl, Bernhard
Title: Design and Control Mechanisms for a 3 DOF Bionic Manipulator
Language: English
Abstract:

Functionality and design of a bionic robot arm consisting of three joints driven by elastic and compliant actuators derived from biologically inspired principles are presented. In the first design standard springs with linear characteristics are utilized in combination with electrical drives. Different control approaches for the bionic robot arm are presented, discussed and evaluation in numerical simulations and experiments with regards to the long-term goal of a natural-like control perfomance.

Number: 210
Place of Publication: Pisa, Italy
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Event Title: 1st IEEE / RAS-EMBS Intl. Conf. on Biomedical Robotics and Biomechatronics (BioRob)
Event Location: Pisa, Italy
Date Deposited: 10 Jul 2019 08:29
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