Different-Level Simultaneous Resolution of Robot Redundancy with End-Effector Path Tracked and with Joint Velocity and Acceleration Both Minimized
To remedy the phenomena of high joint-velocity/acceleration as well as nonzero end-motion joint velocity, a differentlevel bi-criteria minimization scheme is proposed for the redundancy resolution and end-effector path tracking of robot manipulators. The scheme combines the minimum two-norm joint-velocity and joint-acceleration solutions via two weighting factors. Physical constraints (e.g., joint-angle limits, joint-velocity limits, and joint-acceleration limits) are also incorporated simultaneously into the scheme formulation. More importantly, the proposed different-level bi-criteria scheme is finally formulated as one quadratic program (QP) to be solved at the joint-acceleration level. A simplified primal-dual neural network based on linear variational inequalities (LVI) is then employed for solving such a quadratic program and its original robotic scheme. Computer simulations based on a PA10-type manipulator and a three-link planar robot arm verify the efficacy, unification and flexibility of the proposed different-level bi-criteria minimization scheme.
Kinematics Different Level Redundant Robots Motion Planning Quadratic Program
ZHANG Yunong LI Kene GUO Dongsheng CAI Binghuang
School of Information Science and Technology, Sun Yat-sen University (SYSU), Guangzhou 510006, P. R. School of Information Science and Technology, Sun Yat-sen University (SYSU), Guangzhou 510006, P. R.
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
4856-4861
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）