Modeling synergy of anthropomorphic robot arm in the writing task

Abstract

This paper presents the analysis of motion of a redundant anthropomorphic robot arm (ARA) during the writing. The modeling is based on the separation of the prescribed movement into two motions: smooth global, and fast local motion, called distributed positioning (DP). The distribution of these motions to arm joints is discussed. DP allows unique solution of the inverse kinematics of redundant mechanisms such as human arm and ARA. DP is an inherent property of biological systems. Humans, when writing, as shown in literature and in our earlier work control their proximal joints, while the movement of distal joints follow them (synergy). The enhance capabilites of robots, new control schemes are necessary. We show that robot control can be improved if it is biological analog. The aim of this study is to promote such a hypothesis by using ARA in writing as an example.