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Abstract
Based on the observation of gymnast’s swing-up movement, torque cooperation from the coxa, this predetermined
a simplified three-link horizontal bar robot is designed motion can he finished accurately. Certainly, on the point
With orrespanding mathematic model developed, its of bionics, human joints have no ability to drive a free 360-
dynamic characteristics are analyzed and simulation degree rotation, which are under the limits of strength and
results are presented. From a general control perspective, angle. Therefore, all these limiting factors should be
an effective approach, that combines Human simulated represented in the gymnastic robot for obtaining more
intelligent control method with Schema theoiy, and its accurate physical model.
feasibilitj are pointed out to obtain the planning motion
control. In this paper, horizontal bar gymnastic robot, with three
links, including two active joints and a passive joint, is
presented, and its mathematic model is derived in details,
1 Introduction further, two kinds of typical motion behaviors, free move
and forced move, are simulated in the section 11.
Through training and repeated practice, a gymnast can
Considering conditions of torqpe strength and angular
complete some complicated and skillful motions on
limits, in section 111, we demonstrate a set of complete
gymnastic appliances such as body’s curling, giant swing, trajectory parameters analysis based on the gymnast swmg-
swing-up and handstand, etc. Meanwhile, magnitude and
up and handstand on the horizontal bar. Finally, a control
direction of forces generated by body joints are harmonized
method with integration of Human-Simulated Intelligent
and controlled with very high skills and sensory-motor
Control method and Schema Theory of Cognitive Science
intelligence. Therefore, study and understand their body
is proposed.
movement and related joint’s action are very helpful to
develop the intelligent control theory for autonomous
robots motion control. 2 Three-link gymnastic robot dynamics
As a major mechanism for studying such kind of motion Fig. 1 shows the two-dimensional coordinates map for the
that simulating human on the gymnastic apparatus, horizontal bar gymnastic robot, in which the model consists
gymnastic robots, including rings [l] and horizontal bar of three links and three joints. Shoulder and coxa are active
gymnastic robots, have been proposed for many years, and limited joints with rotation range of -5-225 degrees for the
some significant results can be found. Acrobot, a two- angle between ann and trunk, and -5-180 degrees for the
degree-of-freedom planar robot with a single actuator at its angle between leg and trunk; the pivot connecting hand and
coxa, but no actuator at the wrist is discussed in [2-51, in bar is passive joint, which has 0-360 degrees rotation range.
which hzzy control, heuristic control, partial feedback
linearization and control method based on energy are Assuming Li, li, mi, Ji and S, ?re respectively link length,
applied respectively to finish planning trajectories of distance from the centroid to corresponding axis, mass,
swing-up and inverted equilibrium. moment of inertia computed from three link centroid, and
angle deviated from vertical directiQn clockwise, where,
According to the analysis of gymnast’s skills and sensory- notation i=1,2,3 represents thee links respectively. Besides,
motor intelligence, however, the gymnastic robot model the motors mounted on the two active joints have masses
with only two joints is not enough to demonstrate human mc, and mcz respectively, aid the frictional torque
movement on the horizontal bar because it is apparent that coefficients of three joints are notated as c , c2 and c3. u1
athlete’s shoulder joints play a very important role in and ua are symbolized as torques from two active joints
controlling trunk‘s action. Briefly, in the process of body which clockwise rotation is assumed to be positive.
swing-up and being inverted, the shoulder can bend so that
certain angle is formed between arms and trunk, and with
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0-7803-7925-X/03/$17.00 02003 IEEE
By plugging these parameters into the equation (l), we
obtain the following nonlinear system dynamic equation:
A ( X ) . f = B ( X , i)i+ C ( X )+ D (5)
where,
1
4, A,,cos(& -6) A,,cos(~,-8J
A(*=
[ AI2cos@-O,) . ," A,,
A , , c o s ( ~ ~ - ~A ,, ,)C O S ( ~ -e2)
A,,cos(8,-02)
A,,
I:::[ qx)=
B(X,X)= &,sin(4-@)6
4'
-&sin(+@,
B,zw%
w@-e2)ti
4 2
-@)e2 &sin(+@)&
B2,sin(4 -e2*
' 4, 'I
Fig. 1 Coordinates map f o r three-link horizontal bar
gymnastic robot
parameters:
'
All=mlllz+J,+(m,+m,+mc,+mq)~2
(1)
AI; = ( 4 + ( m , + m c z ) h ) 4
where, 4s = 4 3 4
x = [ s l e, e , ~ ~ , u = [ -u~I -,u 2 U21T; = m2/; + J~ + (m, + m c z ) b 2
AX = m3/3L2
The system kinetic energy T under the generalized A,, =m,l,* + J ,
coordinates, the potential function V and the energy
BI, = - ( C I +ci)
dissipated D by joint frictions can be obtained through the
equations (2), (3) and (4) respectively: B n = ~ z + ( m A+(m3+mcd'%)4
4 3 = 434
B,, = c2 - (m24 + (m, +m Q W 4
Bu = - ( C ~ + C I )
B23 = cl + "&'%
Bn = c s r 4 ' %
41= -3
C, = (ml/l + (mz + m, + m q + mcz)4).g
C, = ( m A + ( m 3 +mc,)L,).g *
c, = 4 g '
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Their trajectories are shown in Fig. 2 (d), in which unlike
the fmt link, the T d and 3" links move backward. The
values of and €I3 are decreased at first then increased. ::
Furthermore, with a torque impulse executed on active jokt,
the robot has an initial velocity; still, each of three links is
stabilized gradually at the position pointing to the ground
after damping oscillations. Fig. 3 (a)-(c) show the varying
process of the three angles while the torque drive u2=l.
occnrs from t=O.ls to 1.1s. By the coupling between the .:
joints, U> not only lets the 3" link obtain an initial velocity,
but also affects the first two links. But this positive
(clocktvise) torque u2 effects on the 2'' link ( trunk)
negatively, and due to the u2 is greater than the gravity
torque of the 2"' link, O2 decreases during the period of
execution of u2, until u2 stops. In contrast, the 1%'link can
I ModelPhYsicalParameters O f three-1ink
obtain a positive torque from the anticlockwise rotation of
horizontal bar gymnastic robot the 2' link acting on the 2"' joint (shoulder). But this
torque is small so that after a certain point the angle
To observe the free motion he6avior of this nonlinear decreases because of gravity. Until u2 vanishes and the p
system, we initialize three angles and no torque is executed. link begins to clockwise, the angle of the link
As shown in Figure 2 (a)- (c), due to the effects of gravity increases (Figure (d)).
and frictions, each of three links is stabilized gradually at
the position pointing to the ground ( B, =e, =e, = x ) after
damping oscillations. But, they do not swing down
independently l i e a single pendulum because of the strong
coupling among the joints. For example, when initial
values for three angles are
B, =IIO-, e, =e, =17oorespectively, tJnO3 should increase
to n firstly then continue increasing if only their own
gravity and joint friction applied. However, because the -
. . .
. . .
gravity offust
. . link
. (arm),generates much stronger toLque
_L
3 Planning Motion
In this paper, the concentrate planning motion for the
. . .. . . control-limited three-link horizontal bar gymnastic robot is
(c) &(rad)vs. time(sec)
time(sec)
_ _
swing-up and inverted equilibrium, which can be described
by means of characteristic states or energy transfer process
Fig.2 Free movement of horizontal bar gymnastic of the system. To illustrate the system performance in this
robot planning trajectory, we get the system state variable
s = (0,.B2 6,,e1 ,e2,e3 and energy
than others resulting from this set of initial values, it
~
obtains the bigger angular acceleration initially so that the E =lEk E ~ z bEp3l , so, the motion control
2"dand 3d links (trunk and legs) have reverse acceleration. requirement can he defmed as:
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& I ~>~>O,O>O)
= (rr,
or
~ =[o
o]
-C*””Ol
J+ =~ ~ ~ ~ , ~ > O , O , O )
86
Compared with car-inverted pendulum, another frequently Intelligent Controller and Schema Theory. This work is in
studied nonlinear dynamic system, both of them have large- the progress and will be presented in the future article.
range unstable motion and their energies are accumulated
by dramatic vibration. There are strong coupling in both Conclusion:
systems, which help to implement control as well as to
make the system unmanageable. However, there is an In conclusion, a three-link horizontal bar gymnastic robot
apparent difference between them. has been designed and its mathematic model developed.
The only drive in the car-pendulum system is the horizontal Simulation shows the feasibility of this model. Also, a
driving force generated from the car. The motion control of control strategy is proposed based on analyzing gymnast’s
pendulum is completed by the weight ,of pendulum and the motion control on horizontal bar.
coupling between pendulum and car. Therefore, two This work is supported by the h d s of National Natural
control areas can be divided clearly by the position of Science Foundation of China. The number of the project is
pendulum being up or below the horizontal line, where, 60274022.
direction of pendulum acceleration, driven by the car
moving, is opposite. References
Unlike horizontal car moving, the driving torque for [I] T. Yamada, K. Watanabe, K. Kiguchi and K. Izumi,
horizontal, bar gymnastic robot comes from two active “Acquiring PerfDnnance Skill of Backward Giant Circle by a
joints, which results in a more complicated control strategy Rings Gymnastic Robot’’,.Proc of IEEE Intemational Conference
requested. From the analysis in section 111, we h o w that on Robotics and Automation (ICRA 2002), pp. 1565-1570, May
both angles at two active joints among these three links 11-15,2002, WashingtonD.C.,USA.
have to be concemed when we analyze torque direction, [2] Spong, M.W., “The Swing Up Confrol Problem /or The
strength, and angular acceleration of each link. So, it is -
Acrobot”. IEEE Control Svstem Magazine. vo1.15, n0.l. 1995
infeasible to establish sectional control just depending on pp.49-55.
angles. Gymnastic robot finishes swingup and inverted [3] Spong, M.W., “Swing Up Control ojthe Acrobot”, 1994 IEEE
Int. Conf. on Robotics and Automation , San Diego, CA, pp.
equilibrium on horizontal bar through a series movement,
~~
Human-Simulated Intelligent Controller has been applied [9] (in Chinese) Li Zushu and Chen Qingchun, “The wing up
to the pendulum under limited torque, single and two- positional control of cor-pendulum system”, China Intelligent
Automation Conference, 1998,pp513-518.
linked 6ar inverted pendulum successfully [8-10], which [IO] (in Chinese) Zeng Ji, “Swinging up and Handstand
bas big advantages on simplicity and applicability for Control Based on Human-simulated Intellig&ce /or Cart-Two
solving problems in strong coupling nonlinear system. Links Pendulum Svstem”, Master Dissertation , Chongqing .. .
Therefore, after simulating sensory-motor intelligence University, 2001.
exhibited in human brain and establishing serial motion [I 11 (in Chinese) Cai Zixing, “Robotics(book style)”,
transition schema, we expect to fmisb planning motion Tsinghua University Press.
control for the three-link horizontal bar gymnastic robot by
a new control strategy based on Human-Simulated
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