A Local Solution with Global Characteristics for the Joint Torque Optimization of a Redundant Manipulator

Nedungadi, A.; Kazerouinian, K.

doi:10.1007/978-3-642-83957-3_39

Cited by 47 publications

(35 citation statements)

References 2 publications

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“…Thus, with joint physical limits considered, the MTN redundancyresolution scheme (4)- (8) 2) Inertia-Inverse Weighted Torque (IWT) Scheme: As analyzed via calculus of variations [4], the IWT scheme may result in resolutions with global characteristics. That is, the solution to the minimization of ; s:t: G k (; t) = 0; k = 1; .…”

Section: ) Minimum Torque Norm (Mtn) Schemementioning

confidence: 99%

A Unified Quadratic-Programming-Based Dynamical System Approach to Joint Torque Optimization of Physically Constrained Redundant Manipulators

Zhang

Lee

2004

IEEE Trans. Syst., Man, Cybern. B

273

140

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Abstract-In this paper, for joint torque optimization of redundant manipulators subject to physical constraints, we show that velocity-level and acceleration-level redundancy-resolution schemes both can be formulated as a quadratic programming (QP) problem subject to equality and inequality/bound constraints. To solve this QP problem online, a primal-dual dynamical system solver is further presented based on linear variational inequalities. Compared to previous researches, the presented QP-solver has simple piecewise-linear dynamics, does not entail real-time matrix inversion, and could also provide joint-acceleration information for manipulator torque control in the velocity-level redundancy-resolution schemes. The proposed QP-based dynamical system approach is simulated based on the PUMA560 robot arm with efficiency and effectiveness demonstrated.Index Terms-Linear variational inequalities (LVI), primal-dual solver, quadratic programming (QP), redundant manipulator, torque control.

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Section: ) Minimum Torque Norm (Mtn) Schemementioning

confidence: 99%

A Unified Quadratic-Programming-Based Dynamical System Approach to Joint Torque Optimization of Physically Constrained Redundant Manipulators

Zhang

Lee

2004

IEEE Trans. Syst., Man, Cybern. B

273

140

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“…Other secondary criteria are: obstacle avoidance (Klein and Kee 1989), joint torque optimization (Honegger and Codourey 1998, Noble 1975, Sciavicco and Siciliano 1987, joint velocity constraints (Beiner 1999, Cleary and Tesar 1990, Martin et al 1989, Nedungadi and Kazerounian 1989, energy minimization (Beiner 1999, Chan and Dubey 1995, Klein 1985, manipulator precision (Klein 1985), speed of operation (Chan and Dubey 1995), joint limit avoidance , maximization of various end-effector dexterity measures (Klein and Kee 1989), multiple performance criteria , Erikson and Thor 1999, Nedungadi 1987, global optimization and global versus local optimization. Additional information about redundant manipulators can be found in Siciliano (1990).…”

Section: State Of the Artmentioning

confidence: 99%

Kinematic Control of Redundant Knuckle Booms

Löfgren

Wikander

2009

International Journal of Forest Engineering

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The Swedish forestry industry competes on an international market; because raw material is more expensive than in other parts of the world, the chain from the stump to the industry needs to be very effective. One part in this chain is cutting and transporting trees from the forest to the landing area for further transportation with trucks to the paper or saw mill. When cutting and transporting trees, forestry machines equipped with booms are used to handle the trees. If boom handling time can be reduced thereby increasing productivity by 10 percent, the Swedish forestry industry can earn up to 250 million Swedish crowns (US$35 million) per year.One way to decrease boom handling time is to introduce automatization. This paper describes how to solve the kinematic control of knuckle booms used on forestry machines when automatization is introduced. The objective was to develop a kinematic control strategy for maximum lifting capacity, which is suited for computer-controlled knuckle booms that are redundant. This strategy was analyzed with respect to time consumption when the manipulator tip moves along a predetermined path. The analysis was conducted on a knuckle boom used on a forwarder in a forestry application. The knuckle boom had one redundant degree of freedom. The analysis showed the necessary joint speed requirements and time consumption for certain motion cycles and also what happens when the joints reach their maximum velocity limits.

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“…Early manipulator placement methods were based upon ideas such as the time-optimality of a workcell layout [5] and workcell agility, the ability to effectively perform several manufacturing tasks with minimal re-tooling time and expense [6]. These methods showed promise in increasing factory production and lowering production costs, but were applicable mainly to non-redundant manipulators in workcells where all machine locations, except for the manipulator locations, are pre-defined.…”

Section: Introductionmentioning

confidence: 99%

Improvement of manufacturing workcell layout design using weighted isotropy metrics

Hammond

Shimada

2009

2009 International Conference on Mechatronics and Automation

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For decades manufacturing companies have endeavored to develop more versatile, space-efficient, and productive assembly lines. The design of kinematically redundant robotic manipulators and their workcells are a key component in this process and have become an increasingly popular research focus. Redundant manipulators can perform more complex and a greater variety of tasks than their non-redundant counterparts, but this increased utility demands that manipulators be carefully designed and placed to achieve the kinematic fitness levels required to perform their numerous intended tasks.The optimization of manipulator placement to maximize workcell efficiency has been studied at great length. A majority of the previous placement optimization research focuses on the use fitness measures which quantify kinematic performance criteria such as motion isotropy, end-effector velocity and precision, and time-optimality. Most of these kinematic fitness measures, however, fail to capture effect of dynamics on manipulator performance levels and workcell efficiency. These dynamics considerations are especially important in tasks that involve high accelerations or large manipulator payloads, a case which typifies most modern manufacturing plants.In this paper we investigate the incorporation of dynamics into the calculation of kinematic isotropy. We will use a torqueweighted isotropy measure as a fitness metric for redundant manipulators performing tasks which require high accelerations or the handling heavy payloads. We will employ this metric as part of a multiobjective function for a manipulator placement and workcell size reduction problem. The effectiveness of the torque-weighted isotropy in design optimization will be demonstrated by decreasing the total floor-space of a workcell while maintaining kinematic isotropy and adhering to manipulator torque limits.

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A Local Solution with Global Characteristics for the Joint Torque Optimization of a Redundant Manipulator

Cited by 47 publications

References 2 publications

A Unified Quadratic-Programming-Based Dynamical System Approach to Joint Torque Optimization of Physically Constrained Redundant Manipulators

A Unified Quadratic-Programming-Based Dynamical System Approach to Joint Torque Optimization of Physically Constrained Redundant Manipulators

Kinematic Control of Redundant Knuckle Booms

Improvement of manufacturing workcell layout design using weighted isotropy metrics

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