Cerebellum-Inspired Position and Orientation Control of Redundant Manipulators at Joint-Acceleration Level

Cerebellum-inspired control schemes simulate the control ability of the cerebellum and have made achievements in the position control without considering the orientation of the redundant manipulator. Leveraging the similarities between the cerebellum and the echo state network (ESN), this article aims at designing a cerebellum-inspired control scheme for controlling position and orientation of a redundant manipulator at the joint-acceleration level to simulate the control ability of the cerebellum. To control the orientation and position information of the end-effector during the trajectory tracking task, a position and orientation control (POC) scheme is designed at the joint-acceleration level based on the constructed cerebellum-inspired model. Furthermore, to enhance the robustness of the POC scheme and reduce the effect of noises, a Kalman filter (KF) is incorporated to the POC scheme. In addition, convergence analyses are conducted to validate the effectiveness of the proposed POC scheme. Finally, simulations and experiments are performed to verify the feasibility and accuracy of the proposed POC scheme.