Controlling redundant robot arm-trunk systems for human-like reaching motion

摘要

In this paper, we have developed a novel control law to exhibit human-motion characteristics in redundant robot arm-trunk systems for reaching tasks. This newly developed method nullifies the need for the computation of pseudo-inverse of Jacobian while the formulation and optimization of any artificial performance index is not necessary. The time-varying properties of the muscle stiffness and damping as well as the low-pass filter characteristics of human muscles have been modeled by the proposed control law. The newly developed control law uses a time-varying damping shaping matrix and a bijective joint muscle mapping function to describe the human-motion characteristics for reaching motion like quasi-straight line trajectory of the end-effector and symmetric bell shaped velocity profile. The aspect of self-motion and repeatability, which are inherent in human-motion, are also analyzed and successfully modeled using the proposed method. Simulation results show the efficacy of the newly developed algorithm in describing the human-motion characteristics.