Control of a robot manipulator with neuromuscular-like actuation

A neuromuscular-like model with nonlinear damping was developed in previous work. To explore possible robotic applications, the controllability of the model is demonstrated through movements of a two-link arm. To command the neuromuscular-driven manipulator, patterns of motor commands for coordinating multiple joints are studied under both Cartesian space and joint space. Under the assumption of minimum-jerk, motor commands generated from the desired Cartesian positions or joint angular positions are treated as equilibrium positions driving the neuromuscular model. Different reaching and whipping movements on a horizontal or vertical plane involving coupling dynamics and gravity are simulated by the model. In comparison with a linear damping control through a constrained movement of hitting and moving along a wall, the neuromuscular model demonstrates the superior compliant capability by adapting to the constraint. This dual property of controlling free and constrained movements makes the neuromuscular model a good mechanism for robotic control.<<ETX>>