Iterative learning scheme for a redundant manipulator: Skilled hand writing motion on an arbitrary smooth surface

Kenji Tahara, Suguru Arimoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper proposes an iterative learning control scheme for a redundant manipulator to acquire a skilled hand writing motion of its end-point specified on an arbitrary smooth surface. Firstly, the existence of a unique solution to the Lagrange equation of motion of the robot, whose end-point motion is coincident with a given desired end-point trajectory described in Cartesian coordinate system, is shown theoretically. Second, the iterative learning control signal that enables the robot end-point to trace a desired trajectory specified on an arbitrary smooth surface with fulfilling a desired contact force is designed. Next, a numerical simulation for the iterative learning scheme is conducted to show the effectiveness of the proposed controller, and its result is compared to a theoretically derived desired joint angle trajectory. This comparison shows that there exists a unique solution of the desired joint angle trajectory when an initial pose of the manipulator and a desired end-point trajectory on the constraint surface are given, even under the existence of holonomic constraint and joint redundancy.

Original languageEnglish
Title of host publication2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Pages4682-4687
Number of pages6
DOIs
Publication statusPublished - 2011
Event2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
Duration: May 9 2011May 13 2011

Other

Other2011 IEEE International Conference on Robotics and Automation, ICRA 2011
CountryChina
CityShanghai
Period5/9/115/13/11

All Science Journal Classification (ASJC) codes

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Tahara, K., & Arimoto, S. (2011). Iterative learning scheme for a redundant manipulator: Skilled hand writing motion on an arbitrary smooth surface. In 2011 IEEE International Conference on Robotics and Automation, ICRA 2011 (pp. 4682-4687). [5979700] https://doi.org/10.1109/ICRA.2011.5979700