Title :
Task skill formation in redundant manipulator systems
Author :
Zheng, Xin-Zhi ; Fukushima, Kenji ; Ito, Koji
Author_Institution :
Interdisciplinary Graduate Sch. of Sci. & Eng., Tokyo Inst. of Technol., Japan
Abstract :
Task-oriented motion skill formation for kinematically redundant robot manipulators as an alternative approach to their task planning and control problem, is discussed. Elasto-viscous structures analogous to human arm muscle-skeleton structures are assumed to be the base of the joint actuation, and their dynamic impedance properties (stiffness and viscosity), together with their equilibrium trajectory profiles, are defined as the task skill. An iterative computing algorithm based on variant calculus is derived, and task examples on a 3 DOF planar manipulator are presented
Keywords :
iterative methods; matrix algebra; redundant manipulators; variational techniques; 3 DOF planar manipulator; dynamic impedance properties; elasto-viscous structures; equilibrium trajectory profiles; joint actuation; kinematically redundant robot manipulators; stiffness; task-oriented motion skill formation; variant calculus; viscosity; Arm; Humans; Impedance; Jacobian matrices; Manipulator dynamics; Muscles; Orbital robotics; Robots; Torque; Viscosity;
Conference_Titel :
Systems, Man, and Cybernetics, 1998. 1998 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4778-1
DOI :
10.1109/ICSMC.1998.726512
