A control structure for robotic dynamic manipulation

摘要

A control framework for robot systems to perform dynamic manipulation tasks, such as robotic batting, is presented. A properly preplanned trajectory for manipulators is recognized to be important to enlarge the probability of success. A nominal path for manipulator to travel in swing motion is computed while optimizing the stochastic dynamic manipulability measure to cope with the unpredictable deviation of the ball. A nominal trajectory along the path is then planned in a minimum-time approach for the benefit of catching as accurately as possible the ball behavior which is observed visually and estimated online. A control structure, which consists interpolatively of a path velocity controller to follow the nominal trajectory and a resolved-acceleration-natured ball deviation compensating controller, is proposed. The effectiveness of the proposed approach is examined using computer simulations.