Uni.cation and Comparison on Bi-Criteria Velocity, Acceleration and Torque Minimization Illustrated via Three-Link Planar Robot Arm
In this paper, the latest result that the bi-criteria redundancy-resolution schemes at different levels (i.e., the joint-velocity, -acceleration and -torque levels) can be unified into a quadratic-programming (QP) problem formulation, is presented and summarized for redundant robot arms with joint physical limits. In addition, comparison on the three schemes is presented for further investigation. The presented QP-based formulation, subject to equality, inequality and bound constraints simultaneously, is then solved online via a primaldual neural network based on linear variation inequalities (LVI). Computer-simulation results based on PUMA560, PA10 and multi-link planar robot arms (specially, a three-link planar robot arm in this paper) have demonstrated the ef.cacy of the bi-criteria neural-weighting schemes, as well as the resultant QP-based uni.cation of robots?redundancy resolution.
Velocity level Acceleration level Torque level Bi-criteria Quadratic program Redundancy resolution
Yunong Zhang Dongsheng Guo Jun Li Kene Li
School of Information Science and Technology, Sun Yat-sen University, Guangzhou 510006, China
国际会议
2011 China Control and Decision Conference(2011中国控制与决策会议 CCDC)
四川绵阳
英文
3419-3424
2011-05-23（万方平台首次上网日期，不代表论文的发表时间）