JRM Vol.16 No.4 pp. 381-387
doi: 10.20965/jrm.2004.p0381


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

December 26, 2003
July 13, 2004
August 20, 2004
handwriting robot, redundant robot, redundancy resolution, sensory feedback, stability on a manifold

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:
Hiroe Hashiguchi, Suguru Arimoto, and Ryuta 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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