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首页> 外文期刊>Asian Journal of Control >A SIMPLE CONTROL METHOD COPING WITH A KINEMATICALLY ILL-POSED INVERSE PROBLEM OF REDUNDANT ROBOTS: ANALYSIS IN CASE OF A HANDWRITING ROBOT
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A SIMPLE CONTROL METHOD COPING WITH A KINEMATICALLY ILL-POSED INVERSE PROBLEM OF REDUNDANT ROBOTS: ANALYSIS IN CASE OF A HANDWRITING ROBOT

机译：解决冗余机器人运动学不适定问题的简单控制方法：以手动机器人为例的分析

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摘要

In order to enhance dexterity in execution of robot tasks, a redundant number of degrees-of-freedom (DOF) is adopted for design of robotic mechanisms like manipulators and multi-fingered hands. Associated with such DOF redundancy relative to the number of physical variables necessary and sufficient for description of a given task, an extra performance index is introduced for controlling such a redundant robot in order to avoid arising of an ill-posed problem of inverse kinematics from the task space to the joint space. This paper treats a handwriting robot as an illustrative example and shows that such an ill-posedness of DOF redundancy can be resolved in a natural way by using a novel concept named "stability on a manifold". It is shown theoretically that sensory feedback signals with a simpler form computed on the basis of measurement data of task-description variables render the closed-loop dynamics to converge asymptotically to a target task-description lying on a lower-dimensional manifold of steady states. Computer simulation concerning specified robot tasks verifies the effectiveness of the proposed control scheme, which results in human-like distribution of joint motions.
机译：为了提高执行机器人任务的灵活性，采用冗余的自由度（DOF）来设计机械手（如机械手和多指手）。与这种DOF冗余（相对于描述给定任务所必需和足够的物理变量的数量）相关联，引入了一个额外的性能指标来控制这种冗余机器人，从而避免了因运动引起的逆运动学问题。任务空间到联合空间。本文将手写机器人视为一个说明性示例，并表明可以通过使用名为“流形上的稳定性”的新颖概念以自然的方式解决这种自由度冗余的不适定情况。从理论上表明，根据任务描述变量的测量数据计算出的形式更简单的感官反馈信号使闭环动力学渐近收敛到位于较低维稳态流形上的目标任务描述。有关指定机器人任务的计算机仿真验证了所提出的控制方案的有效性，从而导致了类似人的关节运动分布。

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