Control of a Handwriting Robot with DOF Redundancy Based on Feedback in Task Coordinates

Hiroe Hashiguchi; Suguru Arimoto; Ryuta Ozawa

doi:10.20965/jrm.2004.p0381

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JRM Vol.16 No.4 pp. 381-387

doi: 10.20965/jrm.2004.p0381

(2004)

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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

Received:

December 26, 2003

Accepted:

July 13, 2004

Published:

August 20, 2004

Keywords:

handwriting robot, redundant robot, redundancy resolution, sensory feedback, stability on a manifold

Abstract

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.

Cite this article as:

H. Hashiguchi, S. Arimoto, and R. Ozawa, “Control of a Handwriting Robot with DOF Redundancy Based on Feedback in Task Coordinates,” J. Robot. Mechatron., Vol.16 No.4, pp. 381-387, 2004.

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References

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[2] A. Liegeois, “Automatic supervisory control of the configuration and behavior of multibody mechanism,” IEEE Trans. Systems, Man, and Cybern., Vol.SMC-7, No.12, pp. 868-871, 1977.
[3] M. Vukobratoric, and M. Kircanski, “Kinematics and Trajectory Synthesis of Manipulatin Robots,” Springer-Verlag, Berlin, Germany, 1986.
[4] L. Sciavicco, and B. Siciliano, “A solution algorithm to the inverse kinematic problem for redundant manipulators,” IEEE J. of Robotics and Automation, Vol.4, No.4, pp. 403-410, 1988.
[5] E. Thelen, and L. B. Smith, “A Dynamic Systems Approach to the Development of Cogniton and Action,” The MIT Press, Cambridge, Massachusetts, 1993.
[6] S. Arimoto, J.-H. Bae, and K. Tahara, “Dynamic stable pinching by a pair of robot fingers,” Proc. of the 2nd IFAC Conf. on Mechatronic Systems, Berkeley, Cal., USA, pp. 731-736, 2002.
[7] S. Arimoto, K. Tahara, J.-H. Bae, and M. Yoshida, “A stability theory of a manifold: concurrent realization of grasp and orientation control of an object by a pair of robot fingers,” Robotica, Vol.21, No.2, pp. 163-178, 2003.
[8] S. Arimoto, M. Yoshida, J.-H. Bae, and K. Tahara, “Dynamic force/torque balance of 2D polygonal objects by a pair of rolling contacts and sensory-motor coodination,” J. of Robotic Systems, Vol.20, No.9, 2003.
[9] V. Potkonjak, M. Popovic, M. Lazarevic, and J. Sinanovic, “Redundancy problem in writing: from human to authropomorphic robot arm,” IEEE Trans. Systems, Man, and Cybernetics, Vol.28, No.6, pp. 790-805, 1998.
[10] S. Arimoto, “Control Theory of nonlinear Mechanical Systems: A Passivity-based and Circuit-theoretic Approach,” Oxford Univ. Press, Oxford, UK, 1996.
[11] J. J. Slotine, and W. Li, “On the adaptive control of robot manipulators,” Int. J. of Robotic Research, Vol.6, pp. 49-59, 1987.
[12] R. Kelly, “Comments on ‘Adaptive PD controller for robot manipulators’,” IEEE Trans. Robotics and Automation, Vol.9, pp. 117-119, 1993.
[13] J. Baumgarte, “Stabilization of constraints and integrals of motion in dynamical systems,” Compute. Math. Appl. Mech. Eng., Vol.1, No.1, pp. 1-16, 1972.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] D. E. Whitney, “Resolved motion rate control of manipulators and human protheses,” IEEE Trans. Man-Machine Syst., Vol.MMS-10, No.2, pp. 47-53, 1969.

[2] [2] A. Liegeois, “Automatic supervisory control of the configuration and behavior of multibody mechanism,” IEEE Trans. Systems, Man, and Cybern., Vol.SMC-7, No.12, pp. 868-871, 1977.

[3] [3] M. Vukobratoric, and M. Kircanski, “Kinematics and Trajectory Synthesis of Manipulatin Robots,” Springer-Verlag, Berlin, Germany, 1986.

[4] [4] L. Sciavicco, and B. Siciliano, “A solution algorithm to the inverse kinematic problem for redundant manipulators,” IEEE J. of Robotics and Automation, Vol.4, No.4, pp. 403-410, 1988.

[5] [5] E. Thelen, and L. B. Smith, “A Dynamic Systems Approach to the Development of Cogniton and Action,” The MIT Press, Cambridge, Massachusetts, 1993.

[6] [6] S. Arimoto, J.-H. Bae, and K. Tahara, “Dynamic stable pinching by a pair of robot fingers,” Proc. of the 2nd IFAC Conf. on Mechatronic Systems, Berkeley, Cal., USA, pp. 731-736, 2002.

[7] [7] S. Arimoto, K. Tahara, J.-H. Bae, and M. Yoshida, “A stability theory of a manifold: concurrent realization of grasp and orientation control of an object by a pair of robot fingers,” Robotica, Vol.21, No.2, pp. 163-178, 2003.

[8] [8] S. Arimoto, M. Yoshida, J.-H. Bae, and K. Tahara, “Dynamic force/torque balance of 2D polygonal objects by a pair of rolling contacts and sensory-motor coodination,” J. of Robotic Systems, Vol.20, No.9, 2003.

[9] [9] V. Potkonjak, M. Popovic, M. Lazarevic, and J. Sinanovic, “Redundancy problem in writing: from human to authropomorphic robot arm,” IEEE Trans. Systems, Man, and Cybernetics, Vol.28, No.6, pp. 790-805, 1998.

[10] [10] S. Arimoto, “Control Theory of nonlinear Mechanical Systems: A Passivity-based and Circuit-theoretic Approach,” Oxford Univ. Press, Oxford, UK, 1996.

[11] [11] J. J. Slotine, and W. Li, “On the adaptive control of robot manipulators,” Int. J. of Robotic Research, Vol.6, pp. 49-59, 1987.

[12] [12] R. Kelly, “Comments on ‘Adaptive PD controller for robot manipulators’,” IEEE Trans. Robotics and Automation, Vol.9, pp. 117-119, 1993.

[13] [13] J. Baumgarte, “Stabilization of constraints and integrals of motion in dynamical systems,” Compute. Math. Appl. Mech. Eng., Vol.1, No.1, pp. 1-16, 1972.