Non-interference Control Method For Planetary Gear System of Bi-articular Actuators Robot Arm

摘要

In recent years, there has been increasing attention on biomechanical robot arm such as manipulators equipped with bi-articular actuators. Planetary gear system is used to recreate the bi-articular actuators mechanism. However, the mutual influence between the gears in the planetary gear system resulting in the difference between the ideal bi-articular actuators mechanism and the bi-articular actuators mechanism recreated with planetary gear system. In this paper, a Non-interference control method is proposed for planetary gear system in order to recreate the ideal bi-articular actuators mechanism.