Experimental verification of two-norm, infinity-norm continuous switching implemented in resolution of biarticular actuation redundancy

摘要

Utilization of redundancy endows systems with dexterity and fault tolerance in achieving its desired output, but its utilization implies added complication which must be resolved. Input optimization using the two-norm and the infinity-norm are two methods popularly utilized to address this problem. However, each resolution criteria finds its greatest benefit in opposite circumstances. This fact has long motivated a resolution system which makes use of both norms, switching back and forth when called for. In a previous publication, we introduced and proved the continuity of the first realization of such a switching resolution system, implemented in the resolution of biarticular actuation redundancy. In this work, we demonstrate the empirical validity and utility of the switching system through implementation in a developed robotic arm equipped with biarticular actuation redundancy. It is found that resolution allows for equivalent maximum torque requirements as the infinity-norm – an improvement over two-norm – but with improved electrical energy requirements over infinity-norm.