Cyclic Motion Generation of Multi-Link Planar Robot Performing Square End-Effector Trajectory Analyzed via Gradient-Descent and Zhang et als Neural-Dynamic Methods

摘要：

In this paper, a quadratic-programming (QP) based method is employed for cyclic motion generation (CMG) of redundant robot manipulators with joint physical limits considered. To demonstrate the effectiveness of such a QP-based CMG scheme, three types of multi-link planar arms are tested to perform square end-effector trajectories through computer simulations. Moreover, theoretical analysis based on gradientdescent method and Zhang et al’s neural-dynamic method is conducted to prove the efficacy of the presented scheme.

作者: Ke Chen Lei Zhang Yunong Zhang

作者单位: School of Software School of Information Science and Technology 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: 95-100

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）