Generation of Natural Moving Function for a Upper Limb Robot with Cooperative Control Utilizing Manipulability

摘要

Determining joint angles and velocities of a redundant robot system is so far a difficult control issue, especially in attempting to generate natural motions. This paper presents two conventional control methods for a redundant upper limb robot system utilizing the change in manipulability of the finger to execute a task in a free space as well as in a restraint space. In order to clarify and compare characteristics of these algorithms, theoretical analysis and experimental results are demonstrated and evaluated under ( 1 ) the viewpoint of giving motion priority to arm or finger, and ( 2 ) the calculation viewpoint between a Heuristic Method, which is based on approximate estimation, and a Steepest Decent Method. Two new control methods reducing disadvantages of the above conventional algorithms are also proposed and their utility is verified.