Strategy for Approximate Manipulation of Robots

摘要

The robot end-effector is attracted by a hypothetical target moving along a given trajectory. The attractive force has several components which come into play to keep the end-effector close to the trajectory and adjust its speed. An important parameter is the distance between the end-effector and the hypothetical moving target: complications arise when it is too small, while large trajectory errors occur when it is too large. Previously, Kazerounian and Gupta considered a similar problem but with a stationary target. However, this earlier strategy for point-to-point motion has been thoroughly revised for the continuous motion under consideration in this paper. A Jacobian transformation converts the net attractive force (torque) at the end-effector into the corresponding joint actuator forces. The gravitational effects are also compensated. A dynamic simulation program called MASP, is used to evaluate this approximate manipulation concept. (Author)