Analysis and implementation of a neuromuscular-like control for robotic compliance

摘要

In comparison with robot manipulators, primate limbs excel robots in facile movements requiring compliance control. Based on this fact, this paper will extend our findings in modeling the muscle-reflex mechanism of primate limbs to robotic control. After some salient properties of the neuromuscular system were identified, a neuromuscular-like model that can accurately emulate different involuntary and voluntary movements was developed. To link the findings from the biological system to robotic control, the developed neuromuscular-like controller was implemented on a PUMA 560 robot. The experimental results demonstrated that the emulated spindle-reflex model in the neuromuscular-like controller acts as an impedance to any changing displacement and will comply and enhance the needed compliant forces or torques for the changing motion. Due to this force-enhancement property, no external force sensor is required for sensing force feedback in this control. The capability in performing various free and constrained movements demonstrated that a neuromuscular-like control is very useful for robotic applications requiring adaptation.