Joint-Angle-Drift Remedy of Three-Link Planar Robot Arm Performing Different Types of End-Effector Trajectories

摘要：

In this paper, the quadratic-programming (QP) based scheme-formulation is employed to handle the jointangle-drift problem of a redundant three-link planar robot arm with its end-effector moving along different types of trajectories (e.g., a Lissajousfigure path, a triangular path and an elliptical path). The physical constraints such as joint limits and joint velocity limits are considered as well. A series of computer-simulations are conducted, which demonstrate the effectiveness of such a schemeformulation and its neural-network solver on motion planning.

关键词： three-link planar robot arm quadratic programming joint-angle-drift remedy motion planning neural nets.

作者: Yunong Zhang Xuezhong Li Hong Zhu Ning Tan

作者单位: School of Information Science and Technology Sun Yat-Sen University Guangzhou,China 510275 School of Software Sun Yat-Sen University Guangzhou,China 510275

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Intelligent Computing and Intelligent Systems(2009 IEEE 智能计算与智能系统国际会议)

会议地点: 上海

会议语种:英文

页码: 1484-1488

在线出版日期: 2009-11-20（万方平台首次上网日期，不代表论文的发表时间）