Task skill formation in redundant manipulator systems

摘要

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.