Sharif Digital Repository

Overwhelming number of control laws has been studied for control of robot manipulators with rigid links and joints. However controllers designed under this assumption may not accurately control the manipulator link due to visco-elastic properties that appear in the link behavior. In this study, a novel approach for robust control of a single-link manipulator is presented to force the link to have rigid motions, while it has visco-elastic behavior. In this regard, initially robot dynamics is extracted, followed by the design of four appropriate controllers through the loop-shaping approach. The obtained model is first represented in state space, however later converted to transfer function... 

In this study, we have used a single link system with a pair of muscles that are excited with alpha and gamma signals to achieve both point to point and oscillatory movements with variable amplitude and frequency. The system is highly nonlinear in all its physical and physiological attributes. The major physiological characteristics of this system are simultaneous activation of a pair of nonlinear musclelike- actuators for control purposes, existence of nonlinear spindle-like sensors and Golgi tendon organlike sensor, actions of gravity and external loading. Transmission delays are included in the afferent and efferent neural paths to account for a more accurate representation of the reflex...