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A sensory feedback method for a handwriting robot with D.O.F. redundancy
Description
In order to enhance dexterity of a robot hand, it is said that the robot should be designed to have a redundant number of degrees-of-freedom(D.O.F.). However, in redundant robotic systems, the inverse kinematics from task-description space to joint space becomes ill-posed. Therefore the problem of determination of joint motions becomes difficult. In order to avoid this ill-posedness, many methods have been proposed, most of which introduce an additional input term calculated from minimization of some intentionally introduced artificial index of performance. This paper treats a 4-D.O.F. redundant handwriting robot by using a novel and simple control method and resolving the problem of such ill-posedness based on sensory feedback in task-coordinates. The effectiveness of the proposed control method is demonstrated through computer simulation and a preliminary experiment.
Journal
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- 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)
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2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566) 4 3918-3923, 2005-04-12
IEEE