Disturbance-Observer-Based Fuzzy Control for a Robot Manipulator Using an EMG-Driven Neuromusculoskeletal Model

Joint Authors

Qi, Wen
Hu, Yingbai
Chen, Yue
Zhang, Longbin

Source

Complexity

Issue

Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-10, 10 p.

Publisher

Hindawi Publishing Corporation

Publication Date

2020-11-30

Country of Publication

Egypt

No. of Pages

10

Main Subjects

Philosophy

Abstract EN

Robot manipulators have been extensively used in complex environments to complete diverse tasks.

The teleoperation control based on human-like adaptivity in the robot manipulator is a growing and challenging field.

This paper developed a disturbance-observer-based fuzzy control framework for a robot manipulator using an electromyography- (EMG-) driven neuromusculoskeletal (NMS) model.

The motion intention (desired torque) was estimated by the EMG-driven NMS model with EMG signals and joint angles from the user.

The desired torque was transmitted into the desired velocity for the robot manipulator system through an admittance filter.

In the robot manipulator system, a fuzzy logic system, utilizing an integral Lyapunov function, was applied for robot manipulator systems subject to model uncertainties and external disturbances.

To compensate for the external disturbances, fuzzy approximation errors, and nonlinear dynamics, a disturbance observer was integrated into the controller.

The developed control algorithm was validated with a 2-DOFs robot manipulator in simulation.

The results indicate the proposed control framework is effective and crucial for the applications in robot manipulator control.

American Psychological Association (APA)

Zhang, Longbin& Qi, Wen& Hu, Yingbai& Chen, Yue. 2020. Disturbance-Observer-Based Fuzzy Control for a Robot Manipulator Using an EMG-Driven Neuromusculoskeletal Model. Complexity،Vol. 2020, no. 2020, pp.1-10.
https://search.emarefa.net/detail/BIM-1144610

Modern Language Association (MLA)

Zhang, Longbin…[et al.]. Disturbance-Observer-Based Fuzzy Control for a Robot Manipulator Using an EMG-Driven Neuromusculoskeletal Model. Complexity No. 2020 (2020), pp.1-10.
https://search.emarefa.net/detail/BIM-1144610

American Medical Association (AMA)

Zhang, Longbin& Qi, Wen& Hu, Yingbai& Chen, Yue. Disturbance-Observer-Based Fuzzy Control for a Robot Manipulator Using an EMG-Driven Neuromusculoskeletal Model. Complexity. 2020. Vol. 2020, no. 2020, pp.1-10.
https://search.emarefa.net/detail/BIM-1144610

Data Type

Journal Articles

Language

English

Notes

Includes bibliographical references

Record ID

BIM-1144610