This paper aims to propose an innovative kinematic control algorithm for redundant robotic manipulators. The algorithm takes advantage of a bio-inspired approach.
A simplified two-degree-of-freedom model is presented to handle kinematic redundancy in the x-y plane; an extension to three-dimensional tracking tasks is presented as well. A set of sample trajectories was used to evaluate the performances of the proposed algorithm.
The results from the simulations confirm the continuity and accuracy of generated joint profiles for given end-effector trajectories as well as algorithm robustness, singularity and self-collision avoidance.
This paper shows how to control a redundant robotic arm by applying human upper arm-inspired concept of inter-joint dependency.
This work was partly funded by Centro di Riabilitazione Motoria INAIL, Volterra, Italy (Research project “Design, development, validation and clinical experimentation of a robotic device for verticalisation and mobility of persons affected by severe motor disabilities”, 2013-2015).
Leylavi Shoushtari, A., Mazzoleni, S. and Dario, P. (2016), "Bio-inspired kinematical control of redundant robotic manipulators", Assembly Automation, Vol. 36 No. 2, pp. 200-215. https://doi.org/10.1108/AA-11-2015-116Download as .RIS
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