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Orthogonalization Principle for Hybrid Control of Robot Arms under Geometric Constraint
Suguru Arimoto 대한전자공학회 1992 대한전자공학회 학술대회 Vol.1992 No.10
A principle of “orthogonalization” is proposed as an extended notion of hybrid (force and position) control for robot manipulators under geometric endpoint constraints. The principle realizes the hybrid control in a strict sense by letting position and velocity feedback signals be orthogonal in joint space to the contact force vector whose components are exerted at corresponding joints. This orthogonalization is executed via a projection matrix computed in real-time from a gradient of the equation of the surface in joint coordinates and hence both projected position and velocity feedback signals become perpendicular to the force vector that is normal to the surface at the contact point in joint space.<br/> To show the important role of the principle in control of robot manipulators, three basic problems are analyzed, the first is a hybrid trajectory tracking problem by means of a “modified hybrid computed torque method”, the second is a model-based adaptive control problem for robot manipulators under geometric endpoint constraints, and the third is an iterative learning control problem. It is shown that the passivity of residual error dynamics of robots follows from the orthogonalization principle and it plays a crucial role in convergence properties of both positional and force error signals.
Manipulation of 2D Object with Arbitrary Shape by Robot Finger under Rolling Constraint
Morio Yoshida,Suguru Arimoto,Kenji Tahara 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
Contact of two contours of a pinched object and a robot finger tip, with arbitrary shape, is expressed in terms of differential geometry. The overall finger-object dynamics with rolling and contact constraints is derived as Euler- Lagrange’ equation of motion and the first differential equation with curvatures of the contours is derived for updating the length parameters. Despite the complicated mathematical structure, a control input signal is proposed, which can be constructed without using object geometrical information or external sensing, and it is shown that it is effective to stabilize rotation of the object. Consequently, numerical simulations are carried out in order to demonstrate the practicality of the proposed model and control signal.
Observation of Human Multi-Joint Arm Movement from the Viewpoint of a Riemannian Distance
Masahiro Sekimoto,Suguru Arimoto,Boris I. Prilutsky,Tadao Isaka,Sadao Kawamura 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper aims at analyzing dynamic characteristics of human arm movements from the viewpoint of Rie-manni an distance. In order to evaluate the amount of inertia-induced movement of a multi-joint arm, a measure called inertia-induced measure is developed. By applying the measure to actual human reaching, it is shown that the smooth reaching tends to be closer to the inertia-induced movement than the clumsy reaching. From this observation, it is sug-gested that humans use their own inertia properties efficiently in smooth reaching.