Equivalent Relationship between Velocity- and Acceleration-Level Redundancy-Resolution Schemes Ezemplified via Multi-Link Planar Robot Arms
Redundancy resolution has been widely investigated at the joint-velocity and joint-acceleration levels for robot manipulators in the past three decades, but in a separate manner. In this paper, two redundancyresolution schemes (i.e., a velocity-level based scheme and an acceleration-level based scheme) are presented, and more importantly the relationship between such two different-level schemes is investigated. Computer-simulation results based on a four-link planar robot arm show that the solutions of such two presented schemes fit well with each other, substantiating that the two different-level redundancy-resolution schemes could be equivalent in some sense. Computer simulations based on five-link and six-link planar robot arms verify further this equivalent relationship between different-level redundancy-resolution schemes. Moreover, it could be proved via gradient-descent and/or Zhang et als neural-dynamic methods.
redundancy resolution quadratic programming (QP) different levels equivalence planar robot arms.
Yunong Zhang Binghuang Cai Shaodan Luo Yiwen Yang
School of Information Science and Technology Sun Yat-Sen University,Guangzhou 510275,China School of Software Sun Yat-Sen University,Guangzhou 510275,China
国际会议
上海
英文
1033-1037
2009-11-20（万方平台首次上网日期，不代表论文的发表时间）