Proposing,QP-Unification and Verification of DLSM Based MKE-IIWT Scheme for Redundant Robot Manipulators
To remedy the problem of joint-variable oscillation and instability as well as the non-zero final joint-velocity phenomenon arising in the conventional inertia-inverse weighted torque(IIWT)minimization scheme,in this paper,a novel scheme is proposed and investigated for redundant manipulators with joint-physical limits(i.e.,limits of joint angle,joint velocity,joint acceleration and joint torque)considered on the basis of different-level simultaneous minimization(DLSM)technique.Such a scheme combines the velocity-level minimum kinetic energy(MKE)scheme and the torque-level IIWT minimization scheme via two weighting factors,which guarantees the stability and final joint-velocity of motion to be near zero.Since the IIWT scheme is an optimization scheme with global characteristics and the MKE scheme is a local counterpart of the global kinetic energy minimization scheme,the proposed DLSM based MKE-IIWT scheme(or termed,the DLSM-MKE-IIWT scheme)possesses the advantages of both local and global optimization schemes.Based on Zhang-equivalency lemma and the relation between joint torque and joint acceleration,such a DLSM-MKE-IIWT scheme is finally reformulated as a unified quadratic program(QP).Computer simulation performed on a 3 degrees-of-freedom(DOF)redundant robot manipulator comparatively verifies the effectiveness and superior performance of the proposed DLSM-MKE-IIWT scheme.
different-level simultaneous minimization (DLSM) inertia-inverse weighted torque (IIWT) minimum kinetic energy (MKE) Zhang equivalency physically-constrained manipulators
Yunong Zhang Min Yang Dechao Chen Weibing Li Dongsheng Guo Xiaogang Yan
School of Information Science and Technology,Sun Yat-sen University(SYSU),Guangzhou,510006,China;SYSU-CMU Shunde International Joint Research Institute,Foshan,528300,China;Key Laboratory of Autonomous Systems and Networked Control,Ministry of Education,Guangzhou,510640,China;Key Laboratory of Machine Intelligence and Advanced Computing,Ministry of Education,Guangzhou,510006,China
国际会议
重庆
英文
242-248
2017-10-03（万方平台首次上网日期，不代表论文的发表时间）