IJPTT

Bionic Manipulator

	International Journal of Computer & Organization Trends (IJCOT)
	© 2012 by IJCOT Journal
	Volume-2 Issue-6
	Year of Publication : 2012
	Authors :  Akash K Singh,

Citation

Akash K Singh,  "Bionic Manipulator".  International Journal of Computer & organization Trends (IJCOT), V2(6):110-137 Nov - Dec 2012, ISSN 2249-2593, www.ijcotjournal.org. Published by Seventh Sense Research Group.

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 nature-like control performance.

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Keywords

bionic, wire driven, serial elastic actuator, ballistic movements, joint control, trajectory optimization.