Iterative Learning Scheme for a Redundant Manipulator: Skilled Hand Writing Motion on an Arbitrary Smooth Surface
This paper proposes an iterative learning control scheme for a redundant manipulator to acquire a skilled hand writing motion of its end-point specified on an arbitrary smooth surface. Firstly, the existence of a unique solution to the Lagrange equation of motion of the robot, whose end-point motion is coincident with a given desired end-point trajectory described in Cartesian coordinate system, is shown theoretically. Second, the iterative learning control signal that enables the robot end-point to trace a desired trajectory specified on an arbitrary smooth surface with fulfilling a desired contact force is designed. Next, a numerical simulation for the iterative learning scheme is conducted to show the effectiveness of the proposed controller, and its result is compared to a theoretically derived desired joint angle trajectory. This comparison shows that there exists a unique solution of the desired joint angle trajectory when an initial pose of the manipulator and a desired end-point trajectory on the constraint surface are given, even under the existence of holonomic constraint and joint redundancy.
Kenji Tahara Suguru Arimoto
Faculty of Engineering,Kyushu University,744 Motooka,Nishi-ku,Fukuoka 819-0395,Japan Research Organization of Science and Engineering,Ritsumeikan University,1-1-1 Nojihigashi,Kusatsu 52
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
4682-4687
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）