Author： Toda Hideki Kobayakawa Tatsu Sankai Yoshiyuki
Publisher： Taylor & Francis Ltd
ISSN： 1568-5535
Source： Advanced Robotics, Vol.20, Iss.6, 2006-06, pp. : 661-679
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Abstract
In the multi-link arm control process, the problems of trajectory planning and trajectory realization have been recognized as being of key importance. We developed a technique by which to realize a reaching movement control of the multi-link arm system, which was inspired by experimental results for reaching movements of macaques or human beings. The proposed method can treat the effect of the dynamics of the multi-link system and the trajectory planning of the end-effector, which has a bell-shaped speed profile, as well as the difficulties of redundancies of multi-link systems. Two-link arm reaching movement experiments revealed the same features, as demonstrated by the results of biological experiments on humans and macaques. In addition, the results obtained using a two-dimensional four-link model in a standing-up movement control experiment agreed well with 'standing-up from a chair' movement of human beings. Since the proposed method has a simple structure and its implementation process is simple, the proposed method will be effective for use in a multi-link system control strategy.
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