Task skill formation in redundant manipulator systems
Task skill formation in redundant manipulator systems
复制标题
冗余机械手系统中的任务技能形成
DOI：
10.1109/icsmc.1998.726512
复制
发表时间：
1998
期刊：
影响因子：
--
通讯作者：
Koji Ito
中科院分区：
文献类型：
--
作者：
Xin;K. Fukushima;Koji Ito
讨论了冗余度机器人面向任务的运动技能形成问题，作为解决冗余度机器人任务规划和控制问题的一种新方法。类似于人体手臂肌肉骨骼结构的弹性-粘性结构被假定为关节驱动的基础，并且它们的动态阻抗特性（刚度和粘性）以及它们的平衡轨迹轮廓被定义为任务技能。推导了基于变分演算的迭代计算算法，并给出了3自由度平面机械臂的任务实例。
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.