Bi-Criteria Torque Minimization of Redundant Robot Arms with Schemes, Models and Methods Compared

摘要：

To solve the torque minimization problem of redundant manipulators, a bi-criteria scheme is investigated in this paper. Different from previous researches, inertia-inverse is considered corresponding to global kinetic energy minimization of robot mechanisms via this scheme. Such a scheme could be finally formulated as a general quadratic programm (QP) subject to equality, inequality and bound constraints. The QP is then solved by using the LVI-based primal-dual neural network (LVI-PDNN) at joint-acceleration level. Moreover, a different scheme and its neural-network solving model/method are compared as well in this paper. Computer-simulation results based on PUMA560 robot arm tracking a straight-line path are provided lastly, which substantiate well the flexibility and efficacy of the presented torque-minimization scheme.

作者: Yunong Zhang Ning Tan Chunyan Lai

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

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 2397-2402

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）