Nonlinear Reference Shaping with Endpoint Position Feedback for Large Acceleration Avoidance in Reaching Movement

Fumi Seto; Tomomichi Sugihara

doi:10.20965/jrm.2010.p0173

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JRM Vol.22 No.2 pp. 173-178

doi: 10.20965/jrm.2010.p0173

(2010)

Paper:

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Nonlinear Reference Shaping with Endpoint Position Feedback for Large Acceleration Avoidance in Reaching Movement

Fumi Seto^* and Tomomichi Sugihara^**

^*Future Robotics Technology Center, Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino, Chiba, Japan

^**Institute for Advanced Study, Kyushu University, 744 Moto’oka, Nishi-ku, Fukuoka, Japan

Received:

September 24, 2009

Accepted:

January 25, 2010

Published:

April 20, 2010

Keywords:

reaching movement, manipulator control, reference shaping

Abstract

The nonlinear reference shaping for manipulators used in ordinary living environments is proposed. It generates an intermediate reference position, and it is combined with control based on the virtual springdamper hypothesis. Initial acceleration is moderated by the reference position inserted between the original target and current endpoint position and by a secondorder lag filter. The endpoint position is fed back to prevent from excessive trailing force and large acceleration, resulting in smooth reaching movement and flexible behavior against external force. The feasibility of the concept of the proposed controller is confirmed through computer simulation on a planar 4-DOF manipulator.

Cite this article as:

F. Seto and T. Sugihara, “Nonlinear Reference Shaping with Endpoint Position Feedback for Large Acceleration Avoidance in Reaching Movement,” J. Robot. Mechatron., Vol.22 No.2, pp. 173-178, 2010.

Data files:

References

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

[1] [1] W. Abend, E. Bizzi, and P. Morasso, “Humam Arms Trajectory Formation,” Brain, Vol.105, No.2, pp. 331-348, 1982.

[2] [2] S. Arimoto and M. Sekimoto, “Human-Like Movements of Robotic Arms with Redundant DOFs: Virtual Spring-Damper Hypothesis to Tackle the Bernstein Problem,” Proc. of the 2006 IEEE Int. Conf. on Robotics and Automation, pp. 1860-1866, 2006.

[3] [3] M. Sekimoto and S. Arimoto, “Experimental Study on Reaching Movements of Robot Arms with Redundant DOFs based upon Virtual Spring-Damper Hypothesis,” Proc. of the 2006 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 562-567, 2006.

[4] [4] C. G. Atkeson and J. M. Hollerbach, “Kinematic Features of Unrestrained Vertical Arm Movements,” The J. of Neuroscience, Vol.5, No.9, pp. 2318-2330, 1985.

[5] [5] T. Flash and N. Hogan, “The Coordination of Arm Movements: An Experimentally Confirmed Mathematical Model,” The J. of Neuroscience, Vol.5, No.7, pp. 1688-1703, 1985.

[6] [6] Y. Uno, M. Kawato, and R. Suzuki, “Formation and Control of Optimal Trajectory in Human Multijoint Arm Movement: Minimum Torque-Change Model,” Biological Cybernetics, Vol.61, No.2, pp. 89-101, 1989.

[7] [7] M. Svinin, I. Goncharenko, and S. Hosoe, “On the Boundary Conditions in Modeling of Human-Like Reaching Movements,” Proc. of the 2008 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 518-523, 2008.

[8] [8] T. Tsuji, Y. Tanaka, and M. Kaneko, “Biomimetic Trajectory Generation Based on Human Movements with a Nonholonomic Constraint,” Technical correspondence, IEEE Trans. on Systems, Man, and Cybernetics-Part A: Systems and Humans, Vol.32, No.6, pp. 773-779, 2002.

[9] [9] O. Gerelli and C. G. L. Bianco, “Real-time path-tracking control of robotic manipulators with bounded torques and torque-derivatives,” Proc. of the 2008 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems,” pp. 532-537, 2008.

[10] [10] R. Kikuuwe and H. Fujimoto, “Proxy-Based Sliding Mode Control for Accurate and Safe Position,” Proc. of the 2006 IEEE Int. Conf. on Robotics and Automation Control, pp. 25-30, 2006.

[11] [11] R. Kikuuwe, T. Yamamoto, and H. Fujimoto, “A Guideline for Low-Force Robotic Guidance for Enhancing Human Performance of Positioning and Trajectory Tracking: It Should Be Stiff and Appropriately Slow,” IEEE Trans. on Systems, Man and Cybernetics, Part A, Vol.38, No.4, pp. 945-957, 2008.

[12] [12] X. Broquère, D. Sidobre, and I. Herrera-Aguilar, “Soft Motion Trajectory Planner for Service Manipulator Robot,” Proc. of the 2008 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 2808-2813, 2008.

Nonlinear Reference Shaping with Endpoint Position Feedback for Large Acceleration Avoidance in Reaching Movement

Fumi Seto* and Tomomichi Sugihara**

Fumi Seto^* and Tomomichi Sugihara^**