scholarly journals Redundancy Analysis of Articulated Robot Arms and Its Utilization for Tasks with Priority

1983 ◽  
Vol 19 (5) ◽  
pp. 421-426 ◽  
Author(s):  
Hideo HANAFUSA ◽  
Tsuneo YOSHIKAWA ◽  
Yoshihiko NAKAMURA
Keyword(s):  
Redundancy Analysis ◽  
Robot Arms ◽  
Articulated Robot

scholarly journals Forcefree Control for Articulated Robot Arms Using Torque Observer

2007 ◽  
Vol 73 (11) ◽  
pp. 1233-1237
Author(s):  
Satoru GOTO ◽  
Tatsumi USUI ◽  
Masatoshi NAKAMURA ◽  
Nobuhiro KYURA
Keyword(s):  
Robot Arms ◽  
Articulated Robot ◽  
Torque Observer

Choice of Muscular Forces for Motion Control of a Robot Arm with Biarticular Muscles

2019 ◽  
Vol 31 (1) ◽  
pp. 143-155 ◽  
Author(s):  
Tetsuya Morizono ◽  
Kenji Tahara ◽  
Hitoshi Kino ◽  
◽  
Keyword(s):  
Motion Control ◽  
Robot Arm ◽  
Joint Torques ◽  
Moment Arms ◽  
Robot Arms ◽  
Biarticular Muscles ◽  
Kinetic Interaction ◽  
Simulation Results ◽  
Articulated Robot ◽  
Point To Point

The contribution of biarticular muscles to the control of robotic arms and legs has recently attracted great interest in the field of robotics. The advantages of using biarticular muscles under kinetic interaction with the external environment have been well studied; however, the contribution of the muscles to the motion control of articulated robot arms under no kinetic interaction appears to remain an unclear issue, especially for robot arms of which the muscles are directly anchored to their links, which induces a change in the moment arms to allow the muscles to generate joint torques and permit point-to-point motion control to their desired postures in a feedforward manner with constant muscular forces. This paper presents a case study in which the role of biarticular muscles in the motion control of an articulated robot arm was investigated, focusing on the feature of its redundancy actuation, which allows an arbitrary choice from infinite combinations of muscular forces, realizing motion control to a desired posture. The numerical analysis in this paper addresses three typical combination choices. Mappings from muscular forces to desired postures are calculated in the analysis of the three choices. The simulation results of motion control executed according to the three mappings are also analyzed. The analysis indicates the interesting results that biarticular muscles do not contribute to the desired postures and that a very weak dependence property of monoarticular muscles on the desired postures exists for a particular choice. The simulation results also demonstrate that the implementation of one choice results in a degraded motion control performance as compared with that of the two other choices.

Dual mode synchronous positioning with switching of master-slave axes by using a torque signal for contour control of articulated robot arms

2001 ◽  
Vol 138 (2) ◽  
pp. 33-40 ◽  
Author(s):  
Masatoshi Nakamura ◽  
Shinji Yamanaka ◽  
Satoru Goto ◽  
Nobuhiro Kyura
Keyword(s):  
Dual Mode ◽  
Robot Arms ◽  
Contour Control ◽  
Articulated Robot

Collision-free motion planning for two articulated robot arms using minimum distance functions

Robotica ◽  
1990 ◽  
Vol 8 (2) ◽  
pp. 137-144 ◽  
Author(s):  
C. Chang ◽  
M. J. Chung ◽  
Z. Bien
Keyword(s):  
Motion Planning ◽  
Minimum Distance ◽  
Three Dimensional ◽  
Distance Functions ◽  
Free Motion ◽  
Planning Problem ◽  
Robot Arm ◽  
Robot Arms ◽  
Nonlinear Minimization ◽  
Articulated Robot

SummaryThis paper presents a collision-free motion planning method of two articulated robot arms in a three dimensional common work space. Each link of a robot arm is modeled by a cylinder ended by two hemispheres, and the remaining wrist and hand is modeled by a sphere. To describe the danger of collision between two modeled objects, minimum distance functions, which are defined by the Euclidean norm, are used. These minimum distance functions are used to describe the constraints that guarantee no collision between two robot arms. The collision-free motion planning problem is formulated as a pointwise constrained nonlinear minimization problem, and solved by a conjugate gradient method with barrier functions. To improve the minimization process, a simple grid technique is incorporated. Finally, a simulation study is presented to show the significance of the proposed method.

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