This paper investigates a passivity-based control
for two degree of freedom(2DOF) robot manipulators with
antagonistic bi-articular muscles which are passing over adjacent
two joints and acting the both joints simultaneously.
The manipulator dynamics of three muscle torques, we call
the bi-articular manipulator dynamics, is constructed in order
to design the control input. Stability analysis with respect to
our proposed control law is discussed by using the important
property which is concerned with the passivity, although the
passivity of the bi-articular manipulator dynamics can not be
shown on account of antagonistic bi-articular muscles explicitly.
Finally, simulation results are shown in order to confirm the
proposed method.
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