TAILIEUCHUNG - Motion Control_2

The book reveals many different aspects of motion control and a wide multiplicity of approaches to the problem as well. Despite the number of examples, however, this volume is not meant to be exhaustive: it intends to offer some original insights for all researchers who will hopefully make their experience available for a forthcoming publication on the subject. | 15 Controlling a Finger-arm Robot to Emulate the Motion of the Human Upper Limb by Regulating Finger Manipulability Jian HUANG1 Masayuki HARA2 and Tetsuro YABUTA3 1Kinki University 2Swiss Federal Institute of Technology EPFL 3Yokohama National University 1 3Japan 2Swiss 1. Introduction The human upper limb possesses a high degree of freedom DOF and its redundant structure permits greater flexibility in various dexterous manipulations. The simplest structure of a multifingered robot arm is constructed by fixing a robot finger onto the end effector of a robot arm. A robot with such a structure is also called a macro-micro manipulator Nagai Yoshigawa 1994 1995 Yoshikawa et al. 1993 . Similar to the human upper limb the fingerarm robot exhibits a high redundancy. The movement of the robots with such high redundancies creates the problem of how to determine the numerous DOFs of its joints. Controlling a robot with a high degree of redundancy is a fundamental problem in the field of robotics. A large number of studies have been published on the methodology for determining the redundant DOFs of a robot. Avoidance control of kinematics singularity Nakamura Hanafusa 1986 Furusho Usui 1989 and obstacle collision avoidance Khatib 1986 Maciejewski Klein 1985 Loeff Soni 1975 Guo Hsia 1993 Glass et. Al 1995 by using redundant DOFs has been mostly investigated. In order to realize desired solutions for the above mentioned problems methods involving null space Vannoy Xiao 2004 and the criterion function Kim Kholsa 1992 Ma Nechev 1995 Ma et al 1996 have been typically applied. The finger-arm robot is unlike conventional redundant manipulators. The finger is usually lightweight and has a small link size as compared to the arm. Therefore it is inappropriate to directly apply the methods developed for controlling a redundant manipulator to the finger-arm robot. To achieve the dexterity like the human hand-arm a lightweight finger should be actively moved whereas the arm cooperate the

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