Comparing Approaches for Actuator Redundancy Resolution in Biarticularly-Actuated Robot Arms
Comparing Approaches for Actuator Redundancy Resolution in Biarticularly-Actuated Robot Arms
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DOI：
10.1109/tmech.2013.2257826
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发表时间：
2014-04
期刊：
影响因子：
--
通讯作者：
V. Salvucci;Yasuto Kimura;Sehoon Oh;T. Koseki;Y. Hori
中科院分区：
文献类型：
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作者：
V. Salvucci;Yasuto Kimura;Sehoon Oh;T. Koseki;Y. Hori
双关节致动器--跨越两个关节的致动器--在基于人体肌肉骨骼致动结构的机械臂设计中起着基础性作用。与运动学冗余度不同，由双关节驱动产生的执行器冗余度具有以下优点：增加了稳定性、减小了连杆惯性、减小了末端执行器作用力相对于力方向的非线性。执行器冗余度的解决方式是一个基本问题，因为它强烈地表征了机器人手臂的性能。本文分析了文献中最重要的六种驱动冗余解决方法--1范数、2范数、无穷范数、相位差控制(PDC)、非线性差分控制(NLPDC)和线性规划(LP)--从设计角度分析了它们的设计，并以双关节驱动和绳索驱动的机械臂Biwi为例进行了实验比较。此外，还提出了一种综合控制框架来解决执行器冗余度最大化末端作用力，同时最小化所需输入扭矩的问题。
Biarticular actuators-actuators spanning two joints-play a fundamental role in robot arm designs based on the human musculoskeletal actuation structure. Unlike kinematic redundancy, actuator redundancy resulting from biarticular actuation brings advantages such as increased stability, reduced link inertia, and decreased nonlinearity of the end-effector force with respect to the force direction. The way the actuator redundancy is resolved is a fundamental problem, as it strongly characterizes robot arms performance. In this study, the six most significant actuation redundancy resolution approaches in the literature-1-norm, 2-norm, infinity-norm, phase different control (PDC), nonlinear hase different control (NLPDC), and linear programming (LP)-are analyzed with respect to their design, and experimentally compared with each other using BiWi, a biarticularly actuated and wire-driven robot arm. In addition, an integrated control framework to resolve actuator redundancy maximizing end-effector force and simultaneously minimizing the necessary input torques is proposed.