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Biologically Inspired Robotics
stops in a hyper dynamic manipulator. The implementation method shows
how to realize the manipulation, and the simulations and experimental
results provide verification of the overall effectiveness of this proposal.
4.1 Introduction
Hyper dynamic manipulation is defined here as highly skilled manipulation
with hyper motion specifications, as performed by some athletes. Realization
of such hyper dynamic manipulation by a robot is an interesting and challenging topic in robotics, because the need for the capability of dynamic
manipulation is increasing.
Although some robots have been developed to perform hyper dynamic
manipulation, these robots conform to the conventional robot design
method, that of designing the robot by satisfying the specifications of velocity and acceleration of individual joints (Shimon 1999).
The revolute joint of a manipulator usually cannot rotate 360 degrees due
to the structural limitation. The rotation range of the joint is limited by a
mechanical structure, namely, the joint stop. Conventional manipulators
provide protection against collision or contact between an arm and the joint
stop by employing a software barrier based on the rotation range of each
joint and an electronic hardware barrier using a proximity sensor and a control circuit. That is, the passive torque between the joint stop and the arm is
not utilized by conventional manipulators.
Recent advances in the mechanical design of manipulators have produced
a new generation of lightweight manipulators (Hirzinger et al. 2001). Such
work focused on how to design compact mechanisms for a manipulator. The
research and development on manipulators has provided the foundation for
work on humanoids (Kagami et al. 2001). Though humanoids can do some
dynamic manipulations, such as some kinds of slow dancing and running
(Nagasaka et al. 2004), they are still limited in their dynamic manipulation
capability due to conventional robot design methods.
Compared to conventional manipulators, human beings can perform
hyper dynamic manipulations while in a smart structure. The motion
control skill, namely, efficiently utilizing dynamically coupled driving
in hyper dynamic manipulation, has been presented in previous work
(Ming et al. 2001). That successful motion is due to the smart structure
of humans, in which the joints near the body are more powerful than
those near the end of the arm. To produce a hyper dynamic action, the
power of the joint near the body must be transferred to the parts near
the palm by multistep acceleration due to dynamically coupled driving.
In addition, a human’s arthrosis cannot rotate all around like conventional manipulators due to limitations of the body’s structure (joint stop).
Biologically Inspired Robotics
stops in a hyper dynamic manipulator. The implementation method shows
how to realize the manipulation, and the simulations and experimental
results provide verification of the overall effectiveness of this proposal.
4.1 Introduction
Hyper dynamic manipulation is defined here as highly skilled manipulation
with hyper motion specifications, as performed by some athletes. Realization
of such hyper dynamic manipulation by a robot is an interesting and challenging topic in robotics, because the need for the capability of dynamic
manipulation is increasing.
Although some robots have been developed to perform hyper dynamic
manipulation, these robots conform to the conventional robot design
method, that of designing the robot by satisfying the specifications of velocity and acceleration of individual joints (Shimon 1999).
The revolute joint of a manipulator usually cannot rotate 360 degrees due
to the structural limitation. The rotation range of the joint is limited by a
mechanical structure, namely, the joint stop. Conventional manipulators
provide protection against collision or contact between an arm and the joint
stop by employing a software barrier based on the rotation range of each
joint and an electronic hardware barrier using a proximity sensor and a control circuit. That is, the passive torque between the joint stop and the arm is
not utilized by conventional manipulators.
Recent advances in the mechanical design of manipulators have produced
a new generation of lightweight manipulators (Hirzinger et al. 2001). Such
work focused on how to design compact mechanisms for a manipulator. The
research and development on manipulators has provided the foundation for
work on humanoids (Kagami et al. 2001). Though humanoids can do some
dynamic manipulations, such as some kinds of slow dancing and running
(Nagasaka et al. 2004), they are still limited in their dynamic manipulation
capability due to conventional robot design methods.
Compared to conventional manipulators, human beings can perform
hyper dynamic manipulations while in a smart structure. The motion
control skill, namely, efficiently utilizing dynamically coupled driving
in hyper dynamic manipulation, has been presented in previous work
(Ming et al. 2001). That successful motion is due to the smart structure
of humans, in which the joints near the body are more powerful than
those near the end of the arm. To produce a hyper dynamic action, the
power of the joint near the body must be transferred to the parts near
the palm by multistep acceleration due to dynamically coupled driving.
In addition, a human’s arthrosis cannot rotate all around like conventional manipulators due to limitations of the body’s structure (joint stop).