Natural resolution of DOF redundancy in execution of robot tasks under the gravity: a challenge to Bernstein's problem and applications to handwriting robots

摘要: In order to enhance dexterity in execution of robot tasks, a redundant number degrees-of-freedom (DOF) is adopted for design robotic mechanisms like arms and multi-fingered hands. Associated with such redundancy DOFs relative the physical variables necessary sufficient description given task, an extra performance index introduced controlling avoid ill-posedness inverse kinematics from task space joint space. This paper shows that DOF can be resolved natural way without introducing any artificial or calculating pseudo-inverse. Instead, sensory feedback composed term position another adequate dampings together gravity compensation based on estimates unknown parameters shown effect carry out target incurring self-motion