Natural motion for robot arms

Abstract

This paper describes some initial steps toward the development of more natural control strategies for free motion of robot arms. The standard lumped parameter dynamical model of an open kinematic chain is shown to be stabilizable by linear feedback, after nonlinear gravitational terms have been cancelled. A new control algorithm is proposed and is shown to drive robot joint positions and velocities asymptotically toward arbitrary time-varying reference trajectories. Comments

A Mathematical Introduction to Robotic Manipulation

“…The collection [109] also provides a good survey of recent research in this area. The modified PD control law presented in Section 5 was originally formulated by Koditschek [51]. For a survey of manipulator control using exact linearization techniques, see Kreutz [53].…”

A path space approach to nonholonomic motion planning in the presence of obstacles

“…In contrast to the standard application of this method, there is no need to successively increase the penalty weights since the minimum values (i.e., zeros) of the penalty functions are by definition solutions to the problem. Our method also differs from the familiar artificial potential field method (popular in the holonomic path planning literature [26]- [28]) which is an interior penalty function (or barrier function) method in that the initial guess may be infeasible. The exterior penalty functions associated with the inequality constraints are combined with the equality end point constraint to form an augmented zero finding problem.…”

Dynamic Model of a 6-dof Parallel Manipulator Using the Generalized Momentum Approach

“…The computational effort of the RCID dynamic model obtained through the use of the generalized momentum approach is compared with the one resulting from applying the Lagrange method using the Koditschek representation Koditschek, 1984). As the largest difference between the two methods rests on how the Coriolis and centripetal terms matrices are calculated, the two models are evaluated by the number of arithmetic operations involved in the computation of these matrices.…”