Control of a Handwriting Robot with DOF Redundancy Based on Feedback in Task Coordinates
Hiroe Hashiguchi, Suguru Arimoto, and Ryuta Ozawa
Department of Robotics, Ritsumeikan University, 1-1-1 Noji-Higashi, Kusatsu, Shiga 525-8577, Japan
To enhance robot hand dexterity, it is said that the robot should be designed to have a redundant number of degrees of freedom. In redundant robotic systems, inverse kinematics from task description space to joint space becomes ill-posed, making it difficult to determine joint motions. To avoid this ill-posedness, most proposed methods introduce an additional input term calculated from an intentionally introduced artificial index of performance. We propose a 4 DOF redundant handwriting robot using novel simple control to solve the problem of ill-posedness based on sensory feedback. We demonstrate the effectiveness of proposed control in computer simulation of closed-loop dynamics with the constraint that the robot’s endpoint be always on a two-dimensional plane.
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