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Redundancy understanding and theory for robotics teaching: Application on a human finger model
1. | Dept. GMSC, Prime Institute, CNRS - University of Poitiers - ENSMA - UPR 3346, Poitiers, France |
This paper introduces the concept of redundancy in robotics to students in master degree based on a didactic approach. The definition as well as theoretical description related to redundancy are presented. The example of a human finger is considered to illustrate the redundancy with biomechanical point of view. At the same time, the finger is used to facilitate the comprehension and apply theoretical development to solve direct and inverse kinematics problems. Three different tasks are considered with different degree of redundancy. All developments are implemented under Matlab and validated in simulation on CAD software.
References:
[1] |
Nof, S.Y. (ed.) (1985) Handbook of Industrial Robotics. John Wiley & Sons, New York. Google Scholar |
[2] |
Angeles, J. (2002) Fundamentals of Robotic Mechanical Systems (2nd ed.). Springer Verlag, New York. Google Scholar |
[3] |
Chiaverini S., Oriolo G., Maciejewski A.A. (2016) Redundant Robots. In: Siciliano B., Khatib O. (eds) Springer Handbook of Robotics. Springer Handbooks. Springer. Google Scholar |
[4] |
E.S. Conkur and R. Buckingham,
Clarifying the definition of redundancy as used in robotics, Robotica, 15 (1997), 583-586.
doi: 10.1017/S0263574797000672. |
[5] |
C.A. Nelson, M.A. Laribi and S. Zeghloul,
Multi-robot system optimization based on redundant serial spherical mechanism for robotic minimally invasive surgery, Robotica, 37 (2019), 1202-1213.
doi: 10.1017/S0263574718000681. |
[6] |
H. Saafi, M.A. Laribi and S. Zeghloul, Optimal torque distribution for a redundant 3-RRR spherical parallel manipulator used as a haptic medical device, Robotics and Autonomous Systems, 89 (2017), 40-50. Google Scholar |
[7] |
de Wit, C.C., Siciliano, B., Bastin, G. (1996) Theory of Robot Control. Springer‐Verlag, London. Google Scholar |
[8] |
Angeles, J. (2006). Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms (3rd ed.). Springer‐Verlag, New York. Google Scholar |
[9] |
M.L. Latash and V.M. Zatsiorsky,
Multi-finger prehension: Control of a redundant mechanical system, Advances in Experimental Medicine and Biology, 629 (2009), 597-618.
doi: 10.1007/978-0-387-77064-2_32. |
[10] |
Towell, C., Howard, M., Vijayakumar, S. (2010) Learning nullspace policies. The IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, pp. 241-248, doi: 10.1109/IROS.2010.5650663. Google Scholar |
[11] |
C. Mizera, M.A. Laribi, D. Degez, J.P. Gazeau, P. Vulliez and S. Zeghloul, Architecture choice of a robotic hand for deep-sea exploration based on the expert gestures movements analysis, Mechanisms and Machine Science, 72 (2019), 1-19. Google Scholar |
[12] |
Hu, D., Ren, L., Howad, D., Zong, C. (2014) Biomechanical analysis of force distribution in human finger extensor mechanisms. BioMed Research International, 2014: Article ID 743460, https: //doi.org/10.1155/2014/743460.
doi: 10.1155/2014/743460. |
show all references
References:
[1] |
Nof, S.Y. (ed.) (1985) Handbook of Industrial Robotics. John Wiley & Sons, New York. Google Scholar |
[2] |
Angeles, J. (2002) Fundamentals of Robotic Mechanical Systems (2nd ed.). Springer Verlag, New York. Google Scholar |
[3] |
Chiaverini S., Oriolo G., Maciejewski A.A. (2016) Redundant Robots. In: Siciliano B., Khatib O. (eds) Springer Handbook of Robotics. Springer Handbooks. Springer. Google Scholar |
[4] |
E.S. Conkur and R. Buckingham,
Clarifying the definition of redundancy as used in robotics, Robotica, 15 (1997), 583-586.
doi: 10.1017/S0263574797000672. |
[5] |
C.A. Nelson, M.A. Laribi and S. Zeghloul,
Multi-robot system optimization based on redundant serial spherical mechanism for robotic minimally invasive surgery, Robotica, 37 (2019), 1202-1213.
doi: 10.1017/S0263574718000681. |
[6] |
H. Saafi, M.A. Laribi and S. Zeghloul, Optimal torque distribution for a redundant 3-RRR spherical parallel manipulator used as a haptic medical device, Robotics and Autonomous Systems, 89 (2017), 40-50. Google Scholar |
[7] |
de Wit, C.C., Siciliano, B., Bastin, G. (1996) Theory of Robot Control. Springer‐Verlag, London. Google Scholar |
[8] |
Angeles, J. (2006). Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms (3rd ed.). Springer‐Verlag, New York. Google Scholar |
[9] |
M.L. Latash and V.M. Zatsiorsky,
Multi-finger prehension: Control of a redundant mechanical system, Advances in Experimental Medicine and Biology, 629 (2009), 597-618.
doi: 10.1007/978-0-387-77064-2_32. |
[10] |
Towell, C., Howard, M., Vijayakumar, S. (2010) Learning nullspace policies. The IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, pp. 241-248, doi: 10.1109/IROS.2010.5650663. Google Scholar |
[11] |
C. Mizera, M.A. Laribi, D. Degez, J.P. Gazeau, P. Vulliez and S. Zeghloul, Architecture choice of a robotic hand for deep-sea exploration based on the expert gestures movements analysis, Mechanisms and Machine Science, 72 (2019), 1-19. Google Scholar |
[12] |
Hu, D., Ren, L., Howad, D., Zong, C. (2014) Biomechanical analysis of force distribution in human finger extensor mechanisms. BioMed Research International, 2014: Article ID 743460, https: //doi.org/10.1155/2014/743460.
doi: 10.1155/2014/743460. |






Task | Initial Configuration | End-effector displacement |
T1 | 60 mm along |
|
T2 | 40 mm along |
|
T3 | 30 mm along |
Task | Initial Configuration | End-effector displacement |
T1 | 60 mm along |
|
T2 | 40 mm along |
|
T3 | 30 mm along |
Task | Degree of redundancy |
T1 | 2 |
T2 | 2 |
T3 | 1 |
Task | Degree of redundancy |
T1 | 2 |
T2 | 2 |
T3 | 1 |
Joint variable | Solution 1 | Solution 2 |
Joint variable | Solution 1 | Solution 2 |
Joint angle | |||
Maximum value | |||
Minimum value |
Joint angle | |||
Maximum value | |||
Minimum value |
Phalange length [mm] | 152 | 45 | 35 | 32 |
Phalange length [mm] | 152 | 45 | 35 | 32 |
Task 1 | Task 2 | Task 3 | |
165° | 135° | 90° |
Task 1 | Task 2 | Task 3 | |
165° | 135° | 90° |
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