Design of a two dimensional biomimetic controller for a two-link robotic arm

摘要

The goal of this research is to explore the control of a robotic arm in a visually guided reaching operation. Considering the role of the superior colliculus and the spinal cord in human arm movements, this study proposes simple approaches for the control of arm reaching. An efficient use of distance error signals between actual and desired end-point positions leads to reaching trajectories in two dimensions that are very similar to more traditional kinematic strategies. This implies that the nature of the premotor signal in the spinal cord may be related to simple error signals rather than trajectories. The main conclusions to be stated from this work have two implications. First that a very simple biomimetic strategy can be used to control a robotic arm, and produces trajectories very similar to those seen in human reaching. Second, the hardware tests act as indirect proof that many concepts in biological motor control need to be revisited. For example, the need for complex kinematic computations is now de-emphasized.