MANIPULATOR - modulabs/gazebo-tutorial GitHub Wiki

Table Of Contents

• Kinematics
• Jacobian
• Dyanamics
• Force Control
• Passivity-based control
• Redundancy Resolution
• Untitled

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Kinematics

Jacobian

Dynamics

Passivity-based control

Redundancy Resolution

Bernstein DOF problem

During virtually all voluntary movements of the limb, the number of kinematic degrees of freedom, which can be associated with the number of independent axes of joint rotation summed over all the joints of the limb concerned, is higher than the number of variables necessary to execute a motor task or to describe its execution. Specifically, in the problem of grasping an object by means of a pair of multi-jointed fingers, the number of DOFs should be discounted by the number of contact and rolling constraints. If other constraints that must be called non-holonomic constraints are involved in the motion of the overall system, it is uncertain how many DOFs are involved in the motion dynamics. Even in the simpleset case of single-arm movement of point-to-point reaching, in which motion is confined to a horizontal plane, the Bernstein problem has not yet been completely solved not only from the viewpoint of neuro-physiology but also from various viewpoints of developmental psychology, kinesiology, biomechanics and robotics

Hypothesis of human multi-joint movement

 1) Equilibrium-point hypothesis.
 2) Minimum-jerk hypothesis.
 3) Virtual-trajectory hypothesis.
 4) Minimum-torque-change hypothesis.
 5) Internal-model hypothesis.
 6) Virtual spring/damper hypothesis