抄録
This paper proposes a new control strategy for controlling redundant manipulators, which leads to a solution for the problem that a combination of multi-joint angles is not determined in redundant manipulators. The key for the possibility is a tendon-driven antagonistic structure of the robot and is linear/nonlinear springs to generate inartificial equilibrium of potential energy caused by the springs and gravity. First, we formulate the redundant manipulator with the antagonistic springs, and propose a straightforward controller that enables for the robotic arm to raise itself and to reach a target point under the circumstance with the gravity and without apparent compensator for the gravitational force. Finally, we show numerical simulations to validate the effectiveness of the proposed control method, and make clear the capability of finding the uniform solution of robotic joint in redundant manipulator.
