Analysis of actuator redundancy resolution methods for bi-articularly actuated robot arms
Analysis of actuator redundancy resolution methods for bi-articularly actuated robot arms
复制标题
双关节驱动机械臂执行器冗余解决方法分析
DOI：
10.1109/amc.2012.6197113
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发表时间：
2012
期刊：
影响因子：
--
通讯作者：
Y. Hori
中科院分区：
文献类型：
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作者：
V. Salvucci;Sehoon Oh;Y. Hori
双关节执行器——跨越两个关节的执行器——在机器人应用中越来越受到关注，因为它们提高了稳定性，优化了力的产生，并减少了末端执行器力作为力方向函数的非线性。在本文中，我们提出了一种解决双关节驱动机器人手臂执行器冗余的方法，其中三个执行器产生彼此不同的最大关节执行器扭矩。导出了基于无穷范数的封闭形式解。所提出的基于无穷范数的方法与传统的基于 1 范数和 2 范数的方法进行了比较。在相同的执行器限制下，所提出的方法产生的最大末端执行器力明显大于传统方法产生的最大末端执行器力。所提出的封闭式解决方案适用于具有三个输入和两个输出的冗余系统，具有无需迭代算法即可获得更高最大输出的优点。
Bi-articular actuators - actuators that span two joints - are rising interest in robot application because they increase stability, optimize force production, and reduce the nonlinearity of the end effector force as a function of force direction. In this paper, we propose an approach to resolve actuator redundancy for bi-articularly actuated robot arms in which the three actuators produce maximum joint actuator torques that differs among each other. A closed form solution based on the infinity norm is derived. The proposed infinity norm based approach is compared with the conventional 1-norm and 2-norm based methods. Under the same actuator limitations, the maximum end effector force produced with the proposed method is significantly greater than the one produced by the conventional methods. The proposed closed form solution is suitable for redundant systems with three inputs and two outputs, bringing the advantage of an higher maximum output without the need for iterative algorithms.