DocumentCode :
3188345
Title :
Dynamic submovement composition for motion and interaction control of a robot manipulator
Author :
Salerno, Antonino ; Zollo, Loredana ; Guglielmelli, Eugenio
Author_Institution :
Lab. of Biomed. Robot. & Biomicrosystems, Univ. Campus Bio-Medico, Rome, Italy
fYear :
2012
fDate :
24-27 June 2012
Firstpage :
1323
Lastpage :
1328
Abstract :
The paper presents a novel control approach for robot motion and interaction control that is inspired by neuroscientific studies on the intermittency nature of motor control in humans. Robot motion is generated by dynamic sequences of elementary motion units (called submovements) that, on-line modulated, can achieve accurate motion or else force regulation. The submovement sequence generation is grounded on the adaptive behaviour of four oscillators. Control performance in free space and in interaction with a purely elastic environment can be managed by dynamically changing features of motion units in the current sequence. The theoretical formulation of the control strategy and the application to robot point-to-point motion in free and in constrained space are provided in this paper. Finally, a comparative analysis with a traditional PD control is carried out.
Keywords :
force control; manipulators; mobile robots; motion control; oscillators; adaptive oscillators behaviour; constrained space; current sequence; dynamic sequences; dynamic submovement composition; elastic environment; elementary motion units; force regulation; free space control performance; intermittency nature; motor control; neuroscientific studies; on-line modulation; robot interaction control; robot manipulator; robot motion control; robot point-to-point motion; submovement sequence generation; Accuracy; Dynamics; Force; Generators; Oscillators; PD control; Robots;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Biomedical Robotics and Biomechatronics (BioRob), 2012 4th IEEE RAS & EMBS International Conference on
Conference_Location :
Rome
ISSN :
2155-1774
Print_ISBN :
978-1-4577-1199-2
Type :
conf
DOI :
10.1109/BioRob.2012.6290822
Filename :
6290822
Link To Document :
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