By Adam Spiers, Said Ghani Khan, Guido Herrmann
This ebook investigates a biologically encouraged approach to robotic arm keep watch over, built with the target of synthesising human-like movement dynamically, utilizing nonlinear, strong and adaptive keep watch over suggestions in useful robotic platforms. The keep watch over process caters to a emerging curiosity in humanoid robots and the necessity for applicable regulate schemes to check those platforms. in contrast to the vintage kinematic schemes utilized in commercial manipulators, the dynamic methods proposed right here advertise human-like movement with larger exploitation of the robot’s actual constitution. This additionally advantages human-robot interaction.
The keep watch over schemes proposed during this ebook are encouraged through a wealth of human-motion literature that shows the drivers of movement to be dynamic, model-based and optimum. Such concerns lend themselves properly to fulfillment through nonlinear regulate concepts with no the need for broad and complicated organic models.
The operational-space approach to robotic keep an eye on kinds the foundation of a few of the strategies investigated during this publication. the tactic comprises beautiful good points comparable to the decoupling of movement into job and posture parts. quite a few advancements are made in each one of those parts. basic fee features encouraged by means of biomechanical “effort” and “discomfort” generate lifelike posture movement. Sliding-mode suggestions conquer robustness shortcomings for functional implementation. Arm compliance is completed through a style of model-free adaptive keep an eye on that still offers with actuator saturation through anti-windup repayment. A neural-network-centered learning-by-observation scheme generates new job motions, according to motion-capture information recorded from human volunteers. In different components of the booklet, movement catch is used to check theories of human circulate. All built controllers are utilized to the attaining movement of a humanoid robotic arm and are established to be essentially realisable.
This e-book is designed to be of curiosity to these wishing to accomplish dynamics-based human-like robot-arm movement in educational study, complex examine or sure commercial environments. The ebook presents motivations, vast studies, examine effects and unique factors. it's not basically suited for working towards regulate engineers, but in addition appropriate for common roboticists who desire to strengthen regulate platforms services during this area.
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Additional info for Biologically Inspired Control of Humanoid Robot Arms: Robust and Adaptive Approaches
The majority of the controllers in this book are implemented on the BERUL2 robot. The Elumotion robots differ from many other commercially available robot systems in that they have no centralised controller of any form. Instead the programmer of the robot is wholly responsible for driving and communicating with each individual actuator driver in this system (which will be discussed in more detail in Sect. 4). Normally, in other anthropomorphic research platforms, the user communicates with an onboard PC (such as the WAM by Barrett (Rooks 2006)) or control interface (such as the KUKA Lightweight robot (Albu-Schaffer et al.
Lecture notes in computer science, vol 4850. Springer, Berlin/Heidelberg, pp 358–369 Tellez R, Ferro F, Garcia S, Gomez E, Jorge E, Mora D, Pinyol D, Oliver J, Torres O, Velazquez J et al (2009) Reem-B: an autonomous lightweight human-size humanoid robot. In: 8th IEEERAS international conference on humanoid robots (Humanoids 2008). IEEE, Daejeon, pp 462– 468 Todorov E (2004) Optimality principles in sensorimotor control. Nat Neurosci 7(9):907–915 Willow Garage (2009) Overview of the PR2 robot. com/pages/pr2/ overview.
8), the control engineer is usually aware of the general structure of the model, even if the specifics are unknown. The dynamic modelling of robot manipulators, or any mechanical system, is a field of research in itself. Indeed, much of mechanical engineering in general is concerned with understanding and exploiting the dynamics of mechanisms to optimise performance, efficiency and safety. Though many techniques exist for the modelling of physical systems, those most suited to serial chains, sometimes including branching, are of most interest to robot controller design.