Title :
Submovement composition for motion and interaction control of a robot manipulator
Author :
Zollo, Loredana ; Salerno, Antonino ; Rossini, Luca ; Guglielmelli, Eugenio
Author_Institution :
Lab. of Biomed. Robot. & Biomicrosystems, Univ. Campus Bio-Medico, Rome, Italy
Abstract :
The paper presents a novel control paradigm for robot motion and interaction control that is inspired by recent studies of neuroscience on the intermittency of neural control in humans. Robot end-effector motion is generated by sequences of elementary motion units, called submovements, that properly modulated can achieve accurate motion regulation or else interaction control. Control performance in free space as well as in the interaction can be managed by changing features of motion units in each sequence. Theoretical formulation of the control strategy is presented in this paper and an application to robot point-to-point motion in free space and in the interaction is provided. Finally, the proposed method is compared to traditional methods via experimental trials.
Keywords :
end effectors; manipulators; motion control; neurophysiology; interaction control; motion control; neural control; neuroscience; robot end-effector motion; robot manipulator; robot point-to-point motion; submovement composition; submovements; Accuracy; Aerospace electronics; Force; Manipulators; PD control; Trajectory;
Conference_Titel :
Biomedical Robotics and Biomechatronics (BioRob), 2010 3rd IEEE RAS and EMBS International Conference on
Conference_Location :
Tokyo
Print_ISBN :
978-1-4244-7708-1
DOI :
10.1109/BIOROB.2010.5626942
