Resolution of redundancy using local optimization : synergy approach
Само за регистроване кориснике
2003
Конференцијски прилог (Објављена верзија)
Метаподаци
Приказ свих података о документуАпстракт
Some complex industrial – and especially nonindustrial tasks – induced recently a new approach to robot design and control in order to achieve very stable, fast, and accurate systems. For a example, this is industrial assembly, high speed manipulation, robotized surgery, etc. Such demanding tasks could efficiently be solved if robot was configured as redundant. A redundant robots are called kinematically redundant if they have more degrees of freedom (DOF) then required for a realization of a prescribed task in a task space . The main difficulty of redundant robots is that the task cannot define the joint motions uniquely. For solving this problem, several technical cost functions were proposed. The other idea is to imitate human behavior. Thus, it is necessary to examine the way humans perform complex motions, find the biological analog, and apply it the robot. But, redundant mechanisms also have a disadvantage of the difficulty in controlling them. The main question is how to choo...se a suitable mechanism configuration from the infinite number of possible configurations called “self-motions” which match each position of the manipulation object, for a prescribed point of the end – effector in a task space. There is a striking contrast between the apparent ease with which humans perform multijoint movements in the environment rich with obstacles, changing targets, and unpredictable forces, and the very modest progress in understanding how the central nervous system (CNS) controls such movements. The problem of redundancy is solved using sinergies which represent rules for relative
175
joint involvement to assure a desired endpoint trajectory. Term “ synergy” following means a set of rules that unite hypothetical control signals to individual joints into an equation helping to solve the problem of kinematic redundancy. Also, the possibility of switching synergies within a single movement according to task requirements may be an essential component of acquiring motor skill. In this paper it is proposed synergy approach to solve this problem. First, it is introduced generalized forces Q(t).Second, using local optimization of a suitable dynamic criterion in respect to ul , one can solved problem of redundancy with possibility of obtaining two synergy control in respect to ul within a single movement.
Кључне речи:
redundancy / synergy / local optimizationИзвор:
Booklet of abstracts the sixth international symposium on nonlinear mechanics - nonlinear sciences and applications, August, 24-29, 2003., Niš. (6th ISNM-NSA), Niš 2003, 2003, 175-176Издавач:
- University of Niš, Faculty of Mechanical Engineering
- Mathematical Institute of the Serbian Academy of Sciences and Arts SANU, Belgrade
Колекције
Институција/група
Mašinski fakultetTY - CONF AU - Lazarević, Mihailo PY - 2003 UR - https://machinery.mas.bg.ac.rs/handle/123456789/6677 AB - Some complex industrial – and especially nonindustrial tasks – induced recently a new approach to robot design and control in order to achieve very stable, fast, and accurate systems. For a example, this is industrial assembly, high speed manipulation, robotized surgery, etc. Such demanding tasks could efficiently be solved if robot was configured as redundant. A redundant robots are called kinematically redundant if they have more degrees of freedom (DOF) then required for a realization of a prescribed task in a task space . The main difficulty of redundant robots is that the task cannot define the joint motions uniquely. For solving this problem, several technical cost functions were proposed. The other idea is to imitate human behavior. Thus, it is necessary to examine the way humans perform complex motions, find the biological analog, and apply it the robot. But, redundant mechanisms also have a disadvantage of the difficulty in controlling them. The main question is how to choose a suitable mechanism configuration from the infinite number of possible configurations called “self-motions” which match each position of the manipulation object, for a prescribed point of the end – effector in a task space. There is a striking contrast between the apparent ease with which humans perform multijoint movements in the environment rich with obstacles, changing targets, and unpredictable forces, and the very modest progress in understanding how the central nervous system (CNS) controls such movements. The problem of redundancy is solved using sinergies which represent rules for relative 175 joint involvement to assure a desired endpoint trajectory. Term “ synergy” following means a set of rules that unite hypothetical control signals to individual joints into an equation helping to solve the problem of kinematic redundancy. Also, the possibility of switching synergies within a single movement according to task requirements may be an essential component of acquiring motor skill. In this paper it is proposed synergy approach to solve this problem. First, it is introduced generalized forces Q(t).Second, using local optimization of a suitable dynamic criterion in respect to ul , one can solved problem of redundancy with possibility of obtaining two synergy control in respect to ul within a single movement. PB - University of Niš, Faculty of Mechanical Engineering PB - Mathematical Institute of the Serbian Academy of Sciences and Arts SANU, Belgrade C3 - Booklet of abstracts the sixth international symposium on nonlinear mechanics - nonlinear sciences and applications, August, 24-29, 2003., Niš. (6th ISNM-NSA), Niš 2003 T1 - Resolution of redundancy using local optimization : synergy approach EP - 176 SP - 175 UR - https://hdl.handle.net/21.15107/rcub_machinery_6677 ER -
@conference{ author = "Lazarević, Mihailo", year = "2003", abstract = "Some complex industrial – and especially nonindustrial tasks – induced recently a new approach to robot design and control in order to achieve very stable, fast, and accurate systems. For a example, this is industrial assembly, high speed manipulation, robotized surgery, etc. Such demanding tasks could efficiently be solved if robot was configured as redundant. A redundant robots are called kinematically redundant if they have more degrees of freedom (DOF) then required for a realization of a prescribed task in a task space . The main difficulty of redundant robots is that the task cannot define the joint motions uniquely. For solving this problem, several technical cost functions were proposed. The other idea is to imitate human behavior. Thus, it is necessary to examine the way humans perform complex motions, find the biological analog, and apply it the robot. But, redundant mechanisms also have a disadvantage of the difficulty in controlling them. The main question is how to choose a suitable mechanism configuration from the infinite number of possible configurations called “self-motions” which match each position of the manipulation object, for a prescribed point of the end – effector in a task space. There is a striking contrast between the apparent ease with which humans perform multijoint movements in the environment rich with obstacles, changing targets, and unpredictable forces, and the very modest progress in understanding how the central nervous system (CNS) controls such movements. The problem of redundancy is solved using sinergies which represent rules for relative 175 joint involvement to assure a desired endpoint trajectory. Term “ synergy” following means a set of rules that unite hypothetical control signals to individual joints into an equation helping to solve the problem of kinematic redundancy. Also, the possibility of switching synergies within a single movement according to task requirements may be an essential component of acquiring motor skill. In this paper it is proposed synergy approach to solve this problem. First, it is introduced generalized forces Q(t).Second, using local optimization of a suitable dynamic criterion in respect to ul , one can solved problem of redundancy with possibility of obtaining two synergy control in respect to ul within a single movement.", publisher = "University of Niš, Faculty of Mechanical Engineering, Mathematical Institute of the Serbian Academy of Sciences and Arts SANU, Belgrade", journal = "Booklet of abstracts the sixth international symposium on nonlinear mechanics - nonlinear sciences and applications, August, 24-29, 2003., Niš. (6th ISNM-NSA), Niš 2003", title = "Resolution of redundancy using local optimization : synergy approach", pages = "176-175", url = "https://hdl.handle.net/21.15107/rcub_machinery_6677" }
Lazarević, M.. (2003). Resolution of redundancy using local optimization : synergy approach. in Booklet of abstracts the sixth international symposium on nonlinear mechanics - nonlinear sciences and applications, August, 24-29, 2003., Niš. (6th ISNM-NSA), Niš 2003 University of Niš, Faculty of Mechanical Engineering., 175-176. https://hdl.handle.net/21.15107/rcub_machinery_6677
Lazarević M. Resolution of redundancy using local optimization : synergy approach. in Booklet of abstracts the sixth international symposium on nonlinear mechanics - nonlinear sciences and applications, August, 24-29, 2003., Niš. (6th ISNM-NSA), Niš 2003. 2003;:175-176. https://hdl.handle.net/21.15107/rcub_machinery_6677 .
Lazarević, Mihailo, "Resolution of redundancy using local optimization : synergy approach" in Booklet of abstracts the sixth international symposium on nonlinear mechanics - nonlinear sciences and applications, August, 24-29, 2003., Niš. (6th ISNM-NSA), Niš 2003 (2003):175-176, https://hdl.handle.net/21.15107/rcub_machinery_6677 .