Bio-Inspired Control of Redundant Robotic Systems: Optimization Approach
Mihailo Lazarević Aleksandar Obradović Tihomir Latinović The major aim of this paper is to promote a biologically inspired control synergy approach that allows the resolution of redundancy of a given robotized system which can be used for military purposes. It is shown that it is possible to resolve kinematic redundancy using the local optimization method and biological analogues – control synergy approach, introducing hypothetical control and distributed positioning. Also, the possibility of switching synergies within a single trajectory is treated, where the control synergy approach applying logical control is used. The actuator redundancy control problem has been stated and solved using Pontryagin's maximum principle. Control synergy as a class of dynamic synergy is established by the optimization law at the coordination level. Finally, the effectiveness of the suggested biologically inspired optimal control synergy is demonstrated with a suitable robot with three degrees of freedom and four control variables, as an illustrative example. Key words: biomechanics, robotics, redundant system, optimal control, optimisation method, redundancy, sinergy. |