Task space control considering passive muscle stiffness for redundant robotic arms

Title
Task space control considering passive muscle stiffness for redundant robotic arms
Authors
배지훈Park, Jae-Han오용환김도익최영진양우성
Keywords
task space; control; redundant; arm; msucle stiffness
Issue Date
2015-04
Publisher
Intelligent Service Robotics
Citation
VOL 8, NO 2, 93-104
Abstract
In service robotics, control systems allowing for skillful manipulation and dexterity constitute one of the most valuable technologies. Recently, control approaches inspired by humans or animals have attracted widespread attention, due to their merit of allowing various tasks to be performed naturally without precisely calculating their behaviors. This work, thus, focuses on the embodiment of a notable control method for a multi-DOF robotic system considering a human physical activity. In contrast to the traditional approaches, in the proposed control, the linear superposition of four control terms is exploited. These consist of joint spring-damping and virtual spring-damper terms in the joint and Cartesian spaces, respectively. Remarkably, the joint spring term is newly designed for the consideration of the simple passive muscle stiffness effect under gravity to guarantee motion repeatability and avoid the problem of ill-posedness. In the experiment, various abilities with respect to position control and compliant behavior are exposed through a real robot. Additional experiments are performed for the verification of the motion repeatability and energy-efficient motion under DOF redundancy.
URI
http://pubs.kist.re.kr/handle/201004/51168
ISSN
18612776
Appears in Collections:
KIST Publication > Article
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