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.