DOI QR코드

DOI QR Code

Biomimetic Trajectory Planning Via Redundant Actuation

여유구동을 활용한 생체모방 궤적계획

  • 이재훈 (한양대학교 전자컴퓨터공학부) ;
  • 이병주 (한양대학교 전자컴퓨터공학부)
  • Published : 2003.06.01

Abstract

It is well-known that bio-systems does not calculate inverse dynamics for trajectory planning, but they move by proper modulation of system impedances. Inspired by bio-systems, a biomimetic trajectory planning method is proposed in this work. This scheme is based on employment of redundant actuation which prevails in bio-systems. We discuss that for the generation of the biomimetic trajectory, intelligent structure of bio-systems plays an important role. Redundant actuation and kinematic redundancy fall into such a category of intelligent structure. The proposed biomimetic trajectory planning modulates the complete dynamic behavior such as natural frequencies and damping ratios by using the intelligent structure. Experimental work is illustrated to show the effectiveness of the proposed biomimetic trajectory planning for a five-bar mechanism with redundant actuators.

Keywords

References

  1. B.-J. Yi and R. A. Freeman, ' Geometric analysis of antagonistic stiffness in redundantly actuated parallel mechanisms,' Special Issues on Parallel Closed-Chain Mechanism, Journal of Robotic systems vol. 10, pp. 581-603, 1993 https://doi.org/10.1002/rob.4620100504
  2. B.-J. Yi, I. H. Suh, and S.-R. Oh, 'Analysis of a five-bar finger mechanism having redundant actuators with applications to stiffness and frequency modulation,' Proc. IEEE Robotics and Automation Conf., 1997 https://doi.org/10.1109/ROBOT.1997.620126
  3. B.-J. Yi, S.-R. Oh, and I. H. Suh, 'Synthesis of actively adjustable frequency modulators : The case for a five-bar finger mechanism,' IEEE/RSJ Proceeding on IROS, 1997 https://doi.org/10.1109/IROS.1997.655146
  4. P. A. Spence, 'Basic human anatomy.' The Benjamin/Cummings Publishing Co. Inc., 1986
  5. B.-J. Yi and R. A. Freeman, 'Feedforward spring-like impedance modulation in human arm models,' Proc. IEEE Robotics and Automation Conf., pp. 3121-3128, 1995 https://doi.org/10.1109/ROBOT.1995.525729
  6. S. H. Lee, B.-J. Yi, and Y. K. Kwak, 'Optimal kinematic design of an anthropomorphic robot module with redundant actuators,' Mechatronics, vol. 7, no. 5, pp. 443-464, 1997 https://doi.org/10.1016/S0957-4158(97)00011-1
  7. B.-J. Yi, and R. A. Freeman, 'Synthesis of actively adjustable springs by antagonistic redundant actuation,' Trans. on ASME, Journal of Dynamic Systems, Measurement, and Controls, vol. 114, pp. 454-461, 1992 https://doi.org/10.1115/1.2897368
  8. B.-J. Yi, S.-R. Oh, I. H. Suh, and W. K. Kim, 'Frequency modulation in anthropomorphic robots with kinematic and force redundancies,' Proc. IEEE Robotics and Automation Conference, 1998 https://doi.org/10.1109/ROBOT.1998.680753
  9. R. Kurz, and W. Hayward, 'Multiple-goal kinematic optimization of a parallel spherical mechanism with actuator redundancy,' IEEE Journal of Robotics and Automation vol. 8, pp. 644-651, 1992 https://doi.org/10.1109/70.163788
  10. R. A. Freeman and D. Tesar, 'Dynamic modeling of serial and parallel mechanisms/robotic systems, Part I-Methodology, Part II-Applications,' Proc. of 20th ASME Mechanisms Conference, Orlando, FL, 1988
  11. N. Hogan, 'Impedance Control : An approach to manipulation : Part I - Theory, Part II : Implementation, Part III - Applications,' J. of Dynamic Systems, Measurement, and Control, vol. 107, pp. 1-24, 1985 https://doi.org/10.1115/1.3140702
  12. E. Colgate and N. Hogan, 'An analysis of contact instability in terms of passive physical equivalents,' Proc. IEEE Robotics and Automation Conf, pp. 404-409, 1989 https://doi.org/10.1109/ROBOT.1989.100021
  13. D. A. Lawrence, 'Actuator limitation on achievable manipulator impedance,' Proc. IEEE Robotics and Automation Conf., pp. 560-565, 1989 https://doi.org/10.1109/ROBOT.1989.100044
  14. B. R. So, B. J. Yi, S.-R. Oh, and I. H. Suh, 'An independent joint-based compliance control method for a five-bar finger mechanism via redundant actuators,' Proc. IEEE Robotics and Automation Conf., pp. 2140-2146 1999 https://doi.org/10.1109/ROBOT.1999.770423
  15. 이병주, 이재훈, 김희국, '인체의 근육구조에 대한 해석과 가변스프링 메커니즘 설계로의 적용,' 제어.자동화.시스템공학 논문지, 제 5 권 제 2 호, pp. 208-219, 1999
  16. B.-J. Yi, S.-R. Oh, and I. H. Suh, 'A five-bar finger mechanism involving redundant actuators: analysis and its applications,' IEEE Trans. On Robotics and Automation, vol. 15, no. 6, pp. 1001-1010, 1999 https://doi.org/10.1109/70.817665
  17. John J. Craig, Introduction to ROBOTICS: Mechanism and Control, 2nd Ed., 1989