By Suguru Arimoto (auth.), Professor Sadao Kawamura, Mikhail Svinin Doctor (eds.)
This quantity presents a special selection of papers written in honor of the seventieth birthday of Suguru Arimoto who has lengthy been well-known as a pioneer within the box of robotic keep an eye on. a number of his examine is mirrored during this booklet, consisting of contributions from best specialists within the box, who've additionally been heavily linked to Suguru Arimoto at numerous phases in his wonderful profession. The publication is construct round subject matters: the physics-based robotic keep watch over for dealing with the so-called daily physics difficulties on one hand, and the problem of reproducing attractive, human-like pursuits nonetheless. those topics outlined a lot of Arimoto’s study within the box of robotic keep watch over and are the cornerstones of his conception of human robotics. subject matters lined within the publication handle ordinary movement and adaptive keep an eye on of robotic manipulators, visible servoing, passivity-based and iterative studying regulate, man made potentials for nonholonomic structures, strength regulate of haptic units and muscle-activated structures, modeling and research of human-like routine in attaining and greedy initiatives. every one bankruptcy is self-contained and treats the topic cohesively and extensive. This quantity will supply a huge reference for graduate scholars and researchers, in addition to for engineers and scientists operating within the box of robotics.
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Extra info for Advances in Robot Control: From Everyday Physics to Human-Like Movements
The formal solution to the problem is not as straightforward as might be expected. For nonredundant structures, the inverse problem has been most often tackled by employing the inverse of the Jacobian matrix. Though, as recognized at an early stage , the ill-conditioning of the inverse problem at and around kinematic singularities can destabilize the controls. Trying to avoid such singularities, as proposed by some authors, is an oversimpliﬁed solution, inconsistent with our everyday praxis.
MIT Press, Boston 3. Arimoto S (1999) Robotics research toward explication of everyday physics. The International Journal of Robotics Research 18(11):1056–1063 4. Latash M (1996) The Bernstein problem: how does the nervous system make its choices? : Dexterity and Its Development. Lawrence Erlbaum Associates, Mahwah, New Jersey, 277–303 5. Bernstein N (1967) The Co-ordination and Regulation of Movements. K. Part I From Everyday Physics to Robot Control Natural Motion and Singularity-Consistent Inversion of Robot Manipulators Dragomir N.
The stationary point, occurring when all graphs intersect the zero axis, is clearly seen. Despite the (instantaneously) vanishing vector ﬁeld, end-tip motion can be maintained, as required. This is possible, because constant twist magnitude implies a determinant det J (vector ﬁeld component n3 ) appearing as denominator in the scalar b (cf. Eq. (12)). The next two simulations demonstrate the possibility to initialize motion at a singularity. A simple way to achieve this is to choose input b as a linear function of time: b = k1 t, where k1 is an arbitrary constant and t denotes time.
Advances in Robot Control: From Everyday Physics to Human-Like Movements by Suguru Arimoto (auth.), Professor Sadao Kawamura, Mikhail Svinin Doctor (eds.)