로봇학회논문지 (The Journal of Korea Robotics Society)

  • 제12권1호
  • /
  • Pages.42-54
  • /
  • 2017
  • /
  • 1975-6291(pISSN)
  • /
  • 2287-3961(eISSN)
한국로봇학회 (Korea Robotics Society)
권호 표지
DOI QR코드

DOI QR Code

로봇 메니퓰레이터의 제어를 위한 특이점 회피 알고리즘의 비교 연구

Singularity Avoidance Algorithms for Controlling Robot Manipulator: A Comparative Study

  • Kim, Sanghyun (Graduate School of Convergence Science and Technology, Seoul National University) ;
  • Park, Jaeheung (Graduate School of Convergence Science and Technology, Seoul National University, Advanced Institutes of Convergence Technology)
  • 투고 : 2016.07.21
  • 심사 : 2016.11.08
  • 발행 : 2017.02.28
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

Using an inverse of the geometric Jacobian matrix is one of the most popular ways to control robot manipulators, because the Jacobian matrix contains the relationship between joint space velocities and operational space velocities. However, the control algorithm based on Jacobian matrix has algorithmic singularities: The robot manipulator becomes unstable when the Jacobian matrix loses rank. To solve this problem, various methods such as damped and filtered inverse have been proposed, but comparative studies to evaluate the performance of these algorithms are insufficient. Thus, this paper deals with a comparative analysis of six representative singularity avoidance algorithms: Damped Pseudo Inverse, Error Damped Pseudo Inverse, Scaled Jacobian Transpose, Selectively Damped Inverse, Filtered Inverse, and Task Transition Method. Especially, these algorithms are verified through computer simulations with a virtual model of a humanoid robot, THORMANG, in order to evaluate tracking error, computational time, and multiple task performance. With the experimental results, this paper contains a deep discussion about the effectiveness and limitations of each algorithm.

키워드

참고문헌

  1. Y. Kim and J. Song, "Analytical inverse kinematics algorithm for a 7 DOF anthropomorphic robot arm using intuitive elbow direction", Journal of Korea Robotics Society, vol. 6, no. 1, pp. 27-33, 2011. https://doi.org/10.7746/jkros.2011.6.1.027
  2. J. Lee, J. Kim, J. Lee, D. Kim, H. Lim, and S. Ryu, "Inverse kinematics solution and optimal motion planning for industrial robots with redundancy", Journal of Korea Robotics Society, vol. 7, no. 1, pp. 35-44, 2012. https://doi.org/10.7746/jkros.2012.7.1.035
  3. C. Kang, "Solution space of inverse differential kinematics", Journal of Korea Robotics Society, vol. 10, no. 4, pp. 230-244, 2015. https://doi.org/10.7746/jkros.2015.10.4.230
  4. J. Kim, W. Chung, and Y. Choi, "Task reconstruction method for real-time singularity avoidance for robotic manipulators: dynamic task priority based analysis", Journal of control, automation, and systems engineering, vol. 10, no. 10, pp. 855-868, 2004. https://doi.org/10.5302/J.ICROS.2004.10.10.855
  5. A. Colome and C. Torras, "Closed-loop inverse kinematics for redundant robots: Comparative assessment and two enhancements", IEEE/ASME Trans. Mechatronics, vol. 20, no. 2, pp. 944-955, 2015. https://doi.org/10.1109/TMECH.2014.2326304
  6. Y. Nakamura and H. Hanafusa, "Inverse kinematic solutions with singularity robustness for robot manipulator control", ASME Journal of Dynamic Systems, Measurement, and Control, vol. 108, pp. 163-171, 1986. https://doi.org/10.1115/1.3143764
  7. S.R. Buss, "Introduction to inverse kinematics with jacobian transpose, pseudoinverse and damped least squares methods", IEEE Journal of Robotics and Automation, vol. 17, pp. 1-19, 2004.
  8. S.K. Chan and P.D. Lawrence, "General inverse kinematics with the error damped pseudoinverse", in Proc. IEEE International Conference on Robotics and Automation, 1988, pp. 834-839.
  9. S.R. Buss and J. Kim, "Selectively damped least squares for inverse kinematics", Journal of Graphics, vol. 10, no. 3, pp. 37-49, 2005. https://doi.org/10.1080/2151237X.2005.10129202
  10. L.V. Vargas, A.C. Leite, and R.R. Costa, "Kinematic control of robot manipulators using filtered inverse", Mediterranean Conference on Control & Automation, pp. 27-33, 2013.
  11. L.V. Vargas, A.C. Leite, and R.R. Costa, "Overcoming kinematic singularities with the filtered inverse approach", International Federation of Automatic Control, pp. 8496-8502, 2014.
  12. H. Han, J. Lee, and J. Park, "A continuous task transition algorithm for operational space control framework", International Conference on Ubiquitous Robots and Ambient Intelligence, 2012, pp. 148-152.
  13. H. Han and J. Park, "Robot control near singularity and joint limit using a continuous task transition algorithm", International Journal of Advanced Robotic System, vol. 10, 2013.
  14. C.A. Klein, and C.-H. Huang, "Review of pseudoinverse control for use with kinematically redundant manipulators," IEEE Transactions on Systems, Man, and Cybernetics, vol. 13, no. 2. pp. 245-250, 1983.
  15. B. Dariush, Y. Zhu, A. Arumbakkam, and K. Fujimura, "Constrained closed loop inverse kinematics", in Proc. IEEE International Conference on Robotics and Automation, 2010, pp. 2499-2506.
  16. B. Dariush, M. Gienger, B. Jian, C. Goerick, and K. Fujimura, "Whole body humanoid control from human motion descriptors", in Proc. IEEE International Conference on Robotics and Automation, 2008, pp.2677-2684.
  17. T. Sugihara, "Solvability-Unconcerned Inverse Kinematics by the Levenberg-Marquardt Method", IEEE Trans. Robotics, vol. 27, no. 5, pp. 984-991, 2011. https://doi.org/10.1109/TRO.2011.2148230
  18. J. Xiang, C. Zhong, W. Wei, "General-weighted least-norm control for redundant manipulators", IEEE Trans. Robotics, vol. 26, no. 4, pp. 660-669, 2010. https://doi.org/10.1109/TRO.2010.2050655
  19. S. Kim, M. Kim, J. Hwang, J. Chae, B. Park, H. Cho, J. Sim, J. Jung, H. Lee., et al, "Approach of team snu to the darpa robotics challenge finals", in IEEE/RAS International Conference on Humanoid Robots, 2015, pp. 777-784.
  20. E. Rohmer, S.P. Singh, and M. Freese, "V-rep: A versatile and scalable robot simulation framework", in IEEE/RAS International Conference on Intelligent Robots and Systems, 2013, pp.1321-1326.
  21. S. Chiaverini, "Singularity-robust task-priority redundancy resolution for real-time kinematic control of robot manipulators", IEEE Transactions on Robotics and Automation, vol. 13, no. 3, pp.398-410, 1997. https://doi.org/10.1109/70.585902
  22. A.N. Pechev, "Inverse kinematics without matrix inversion", in Proc. IEEE International Conference on Robotics and Automation, 2008, pp. 2005-2012.
  23. S. Chiaverini, B. Siciliano, and O. Egeland, "Review of the damped least squares inverse kinematics with experiments on an industrial robot manipulator", IEEE Trans. Control System Technology, vol. 2, no. 2. pp. 123-134, 1994. https://doi.org/10.1109/87.294335
  24. A.K. Cline, C.B. Moler, G.W. Steward, and J.H. Wilkinson, "An estimate for the condition number of a matrix", SIAM Journal on Numerical Analysis, vol. 16, no. 2, pp. 368-375, 1979. https://doi.org/10.1137/0716029
  25. G. Schreiber, G. Hirzinger, "Singularity consistent inverse kinematics by enhancing the jacobian transpose", Advances in Robot Kinematics: Analysis and Control, Springer, 1998. p. 475-482.
  26. L.Sciavicco and B.Siciliano, "Modelling and Control of Robot Manipulators", McGraw Hill Companies, Inc, 1996.
  27. A. Lee, J. Yim, and Y. Choi, "Scaled Jacobian Transpose based Control for Robotic Manipulators", Int. J. Control Autom. Syst, Vol. 12, No. 5, pp.1102-1109, 2014. https://doi.org/10.1007/s12555-013-0102-0
  28. J. Lee, N. Mansard, and J. Park, "Intermediate desired value approach for continuous transition among multiple tasks of robots", in Proc. IEEE International Conference on Robotics and Automation, 2011, pp. 2677-2684.
  29. J. Lee, N. Mansard, and J. Park, "Intermediate desired value approach for task transition of robots in kinematic control", IEEE Transactions on Robotics and Automation, vol. 28, no. 6, pp.1260-1277, 2012. https://doi.org/10.1109/TRO.2012.2210293
  30. D. Oetomo and M. Ang. Singularity robust algorithm in serial manipulators. Robotics and Computer-Integrated Manufacturing, vol. 25, pp. 122-134, 2009. https://doi.org/10.1016/j.rcim.2007.09.007
  31. DYROS Hompage, 'Experimental Result,' Available: http://dyros.snu.ac.kr/singularity-video/. [Accessed: Faburary 22, 2017]
  32. Microsoft, 'QueryPerformanceCounter Function,' Available: http://msdn.microsoft.com/ko-kr/library/windows/desktop/ms644904(v=vs.85).aspx. [Accessed: Faburary 22, 2017]
  33. G. Yee, Y. Kim, A. Kim, G. Kang, and H. Choi, "Force and Pose Control for Anthropomorphic Robotic Hand with Redundancy", Journal of Korea Robotics Society, vol. 10, no. 4, pp. 179-185, 2015. https://doi.org/10.7746/jkros.2015.10.4.179

피인용 문헌

  1. Analysis of the Redundant Actuation Characteristics of the Planar 3-DOF Parallel Mechanism vol.12, pp.2, 2017, https://doi.org/10.7746/jkros.2017.12.2.194
  2. A Unified Framework for Overcoming Motion Constraints of Robots Using Task Transition Algorithm vol.13, pp.2, 2018, https://doi.org/10.7746/jkros.2018.13.2.129