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Simple desired manipulability ellipsoid with velocity and force for control of redundant manipulator

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Abstract

Redundant manipulators are used in several areas because they can work with various postures. They are dexterous and can avoid crashing with obstacles during working in a complex environment. However, suitable redundant joints are difficult to identify. Manipulability is widely used to evaluate the posture of redundant manipulators. This approach aims to generate the motion of a manipulator with its trajectory and to determine its optimal posture. However, achieving these objectives is complex, and calculations involved are time consuming. In this study, a simple desired manipulability ellipsoid is proposed to reduce these shortcomings. The manipulator interacts with an object or its own inertia, and the suitable manipulability ellipsoid is related with these values. Therefore, this ellipsoid is calculated by using the desired force and velocity. In this manner, the redundant joint is controlled, and the current manipulability ellipsoid is similar to the desired manipulability ellipsoid, thereby enabling to approximately determine the optimal manipulability. The proposed method is tested by simulation and real model with four degrees of freedom manipulator. Subsequently, the similarity is validated.

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Acknowledgments

This work was supported by the National Research Foundation of Korea (NRF) grant funded by the Korea government (MSIT) (No. 2021R1A2C3012387).

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Authors and Affiliations

  1. School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea

    Yun Seok Choi, Issac Rhee, Phi Tien Hoang & Hyouk Ryeol Choi

  2. NEXTG - FPT Corporation, Hanoi City, Vietnam

    Phi Tien Hoang

Authors
  1. Yun Seok Choi
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  2. Issac Rhee
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  3. Phi Tien Hoang
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  4. Hyouk Ryeol Choi
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Corresponding authors

Correspondence to Yun Seok Choi or Hyouk Ryeol Choi.

Additional information

Yun Seok Choi received his B.S. degree in Mechanical Engineering from Incheon University, Incheon, South Korea, in 2012, and his M.S. degree in Mechanical Engineering from Sungkyunkwan University, Suwon, South Korea, in 2014, where he is currently working toward his Ph.D. degree in Mechanical Engineering. He has been with Robotics Innovatory Lab (bf. IRMS Lab), Sungkyunkwan University, since 2012. His current research interests include in-pipe robot and manipulator, mechanical design and control, and mechatronics.

Issac Rhee received his B.S. degree in Mechanical Engineering from Incheon University, Incheon, South Korea, in 2017. He has been working toward his Ph.D degree in the School of Mechanical Engineering, Sungkyunkwan University. He has been with the Robotics Innovatory Laboratory, School of Mechanical Engineering, Sungkyunkwan University, since 2017. His research interests include robot design, human-robot, and modeling and control.

Phi Tien Hoang received his B.S. degree in Mechatronics Engineering from Da Nang University of Technology, Da Nang city, Vietnam, in 2011, and his M.Sc. degree in Mechanical Engineering in the Robotics Innovatory Laboratory, Sungkyunkwan University, Suwon City, Korea. He currently serves as a Senior Robotics Developer at NEXTG — FPT Corporation in Vietnam. His current research interests include autonomous driving vehicle and ADAS system, autonomous mobile robot (AMR), and robot manipulators.

Hyouk Ryeol Choi, Fellow of IEEE, received his B.S. degree in Mechanical Engineering from Seoul National University, Korea, M.S. degree in Mechanical Engineering from Korea Advanced Institute of Science and Technology, Korea, and Ph.D. degree in Mechanical Engineering from Pohang University of Science and Technology, Korea, in 1984, 1986, and 1994, respectively. From 1993 to 1995, he served as a postdoctoral researcher at Kyoto University, Japan. Since 1995, he has been a Professor at the School of Mechanical Engineering, Sungkyunkwan University, Korea. His current research interests include soft robotics, robotic mechanisms, field applications of robots, dexterous robotic hands, and manipulation.

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Choi, Y.S., Rhee, I., Hoang, P.T. et al. Simple desired manipulability ellipsoid with velocity and force for control of redundant manipulator. J Mech Sci Technol 37, 2033–2041 (2023). https://doi.org/10.1007/s12206-023-0339-3

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  • DOI: https://doi.org/10.1007/s12206-023-0339-3

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