Joint actuator synergy in control of anthropomorphic robot arm
Abstract
The major aim of this study is to promote synergy approach which allows to resolve kinematic redundancy of redundant mechanism such as ARA. Here, the joint acutator synergy is related to specific contraint(s) on the control variables. The hierarchical control structure is proposed where joint actuator synergy is eastablished by optimization law at higher-coordination level. It will be shown that new robot control can be established using appropriate biological analog where introducing hypothetical control and applying synergy approach it will be possible to resolve kinematic redundancy. At last, simulation results are to be given to illustrate the effectiveness of the proposed synergy approach.
Keywords:
robot control / actuator / synergySource:
Zbornik radova XLIII Konferencija ETRAN, Zlatibor, 20-22. septembar 1999., 1999, 227-230Publisher:
- Belgrade: ETRAN Society
Collections
Institution/Community
Mašinski fakultetTY - CONF AU - Lazarević, Mihailo PY - 1999 UR - https://machinery.mas.bg.ac.rs/handle/123456789/6602 AB - The major aim of this study is to promote synergy approach which allows to resolve kinematic redundancy of redundant mechanism such as ARA. Here, the joint acutator synergy is related to specific contraint(s) on the control variables. The hierarchical control structure is proposed where joint actuator synergy is eastablished by optimization law at higher-coordination level. It will be shown that new robot control can be established using appropriate biological analog where introducing hypothetical control and applying synergy approach it will be possible to resolve kinematic redundancy. At last, simulation results are to be given to illustrate the effectiveness of the proposed synergy approach. PB - Belgrade: ETRAN Society C3 - Zbornik radova XLIII Konferencija ETRAN, Zlatibor, 20-22. septembar 1999. T1 - Joint actuator synergy in control of anthropomorphic robot arm EP - 230 SP - 227 UR - https://hdl.handle.net/21.15107/rcub_machinery_6602 ER -
@conference{ author = "Lazarević, Mihailo", year = "1999", abstract = "The major aim of this study is to promote synergy approach which allows to resolve kinematic redundancy of redundant mechanism such as ARA. Here, the joint acutator synergy is related to specific contraint(s) on the control variables. The hierarchical control structure is proposed where joint actuator synergy is eastablished by optimization law at higher-coordination level. It will be shown that new robot control can be established using appropriate biological analog where introducing hypothetical control and applying synergy approach it will be possible to resolve kinematic redundancy. At last, simulation results are to be given to illustrate the effectiveness of the proposed synergy approach.", publisher = "Belgrade: ETRAN Society", journal = "Zbornik radova XLIII Konferencija ETRAN, Zlatibor, 20-22. septembar 1999.", title = "Joint actuator synergy in control of anthropomorphic robot arm", pages = "230-227", url = "https://hdl.handle.net/21.15107/rcub_machinery_6602" }
Lazarević, M.. (1999). Joint actuator synergy in control of anthropomorphic robot arm. in Zbornik radova XLIII Konferencija ETRAN, Zlatibor, 20-22. septembar 1999. Belgrade: ETRAN Society., 227-230. https://hdl.handle.net/21.15107/rcub_machinery_6602
Lazarević M. Joint actuator synergy in control of anthropomorphic robot arm. in Zbornik radova XLIII Konferencija ETRAN, Zlatibor, 20-22. septembar 1999.. 1999;:227-230. https://hdl.handle.net/21.15107/rcub_machinery_6602 .
Lazarević, Mihailo, "Joint actuator synergy in control of anthropomorphic robot arm" in Zbornik radova XLIII Konferencija ETRAN, Zlatibor, 20-22. septembar 1999. (1999):227-230, https://hdl.handle.net/21.15107/rcub_machinery_6602 .