Biologically inspired optimal control of robotic system:synergy approach

This paper suggests a new optimal control of robotic system based on a biologically inspired control principle-synergy, which allows resolving actuator redundancy. The redundancy control problem has been discussed in the framework of optimal control problem which is solved by Pontryagin's maxim...

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Bibliographic Details
Main Authors: Lazarevic, M., Obradovic, A., Joka, M., Bucanovic, L.
Format: Conference Proceeding
Language:English
Subjects:
actuator redundancy
Actuators
Biological control systems
biorobotics
Control systems
Humans
Manipulators
Optimal control
Orbital robotics
robot
Robot control
Robot kinematics
Service robots
synergy
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Summary:This paper suggests a new optimal control of robotic system based on a biologically inspired control principle-synergy, which allows resolving actuator redundancy. The redundancy control problem has been discussed in the framework of optimal control problem which is solved by Pontryagin's maximum principle. Joint actuator synergy approach is suggested which is established by optimization law at coordination level, where is introduced a central control as suggested Bernstein in [1]. In that way, one may obtain a specific constraint(s) on the control variables. Finally, the effectiveness of suggested biologically inspired optimal control is demonstrated with a suitable robot with three degrees of freedom and four control variables as the illustrative example.
DOI:10.1109/MED.2009.5164669