Geometrical Postural Optimisation of 7-DoF Limb-Like Manipulators

07/06/2021
by   Carlo Tiseo, et al.
0

Robots are moving towards applications in less structured environments, but their model-based controllers are challenged by the tasks' complexity and intrinsic environmental unpredictability. Studying biological motor control can provide insights into overcoming these limitations due to the high dexterity and stability observable in humans and animals. This work presents a geometrical solution to the postural optimisation of 7-DoF limbs-like mechanisms, which are robust to singularities and computationally efficient. The theoretical formulation identified two separate decoupled optimisation strategies. The shoulder and elbow strategy align the plane of motion with the expected plane of motion and guarantee the reachability of the end-posture. The wrist strategy ensures the end-effector orientation, which is essential to retain manipulability when nearing a singular configuration. The numerical results confirmed the theoretical observations and allowed us to identify the effect of different grasp strategies on system manipulability. The geometrical method was numerically tested in thousands of configurations proving to be both robust and accurate. The tested scenarios include left and right arm postures, singular configurations, and walking scenarios. The proposed geometrical approach can find application in developing efficient and robust interaction controllers that could be applied in computational neuroscience and robotics.

READ FULL TEXT

page 2

page 15

research
08/10/2021

Robust and Dexterous Dual-arm Tele-Cooperation using Fractal Impedance Control

Deploying robots from isolated operations to shared environments has bee...
research
05/05/2019

Stability Control of Walking Biped Robots based on Total Momentum

Principle Equation of Motion (for walkers) is derived that later results...
research
09/09/2021

Robust Impedance Control for Dexterous Interaction Using Fractal Impedance Controller with IK-Optimisation

Robust dynamic interactions are required to move robots in daily environ...
research
01/12/2018

Hierarchical Motion Consistency Constraint for Efficient Geometrical Verification in UAV Image Matching

This paper proposes a strategy for efficient geometrical verification in...
research
02/14/2022

Energy Tank-Based Policies for Robust Aerial Physical Interaction with Moving Objects

Although manipulation capabilities of aerial robots greatly improved in ...
research
11/15/2022

Geometrical Penrose Tilings have Finite Type

Rhombus Penrose tilings are tilings of the plane by two decorated rhombi...
research
12/31/2019

Intrinsic motivations and open-ended learning

There is a growing interest and literature on intrinsic motivations and ...

Please sign up or login with your details

Forgot password? Click here to reset