Self-Motion Planning of Redundant Robot Manipulators Based on Quadratic Program and Shown via PA10 Example

摘要：

In this paper, a criterion is proposed in the form of a quadratic function for the purpose of self-motion planning of redundant robot arms. The proposed self-motion scheme with joint physical limits considered could be formulated as a quadratic programming (QP) problem subject to equality, (inequality) and bound constraints. A primal-dual neural network based on linear variational inequalities (LVI) is developed as the real-time solver for the resultant quadratic-program. The so-called LVI-based primal-dual neural network has a simple piecewise-linear dynamics and a global exponential convergence to optimal solutions of QP problems. Computer-simulations performed based on PA10 robot arm substantiate the efficacy of the proposed QP-based neural self-motion-planning scheme.

作者: Yunong Zhang Hong Zhu Zhiguo Tan Binghuang Cai Zhi Yang

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

会议类型: 国际会议

会议名称: The 2nd International Symposium on Systems and Control in Aeronautics and Astronautics(第二届航空航天系统与控制国际会议 ISSCAA 2008)

会议地点: 深圳

会议语种:英文

页码: 548-553

在线出版日期: 2008-12-10（万方平台首次上网日期，不代表论文的发表时间）