Endowing robots with the ability to closely collaborate with humans is an important challenge of robotics. For this purpose, systems are required that behave in a manner humans are comfortable with, and mimicking the way another human would behave is a good choice. This paper presents simulation results of how a KUKA LWR IV robot with 7 degrees of freedom (DOF) can be made to behave like a human arm, having surgical (e.g. orthopedic) applications in view. This performance is achieved using a fractional order transfer function model of the arm, which have been presented in previous papers. Results are satisfactory and could not be obtained using only the control features provided with the robot.
Digital Object Identifier (DOI)
Ventura, Andre; Tejado´, Ines; Valerio, Duarte; and Martins, Jorge
"Fractional Control of a 7-DOF Robot to Behave Like a Human Arm,"
Progress in Fractional Differentiation & Applications: Vol. 5
, Article 2.
Available at: https://dc.naturalspublishing.com/pfda/vol5/iss2/2