On the validation of a sensor based robot control system using the minimum effort factor control approach

A sensor driven control model and a minimum effort control algorithm in terms of time and energy expended during the execution of a movement strategy are described and validated for a multijointed cooperating robotic arm. By considering smooth, humanlike (anthropomorphic) movements, using joint motion profiles achievable in realtime, using sensory information from all joints, and evaluating the total work expended by each robot joint during the execution of a movement strategy, a minimum effort motion trajectory is synthesized to precisely and efficiently position the robotic arm end-effector. The granularity of closed space (reachable region of the arm) is determined to provide the means to decide the grid size of the mesh. The minimum effort control algorithm generates several humanlike arm movement strategies and selects the best strategy on the basis of extendable effort. The algorithm has an inherent basis to deal with obstacles in an efficient manner. Examples validate the proposed control approach