A Projected Gradient Augmented Lagrangian Approach to Multi-Objective Trajectory Planning of Redundant Robots

In this paper, a stabilized feedback control is designed for a class of unicycle non-holonomic mobile robots. The approach is based on kinematic polar coordinate transformations. The suggested control scheme allows the robot to achieve stabilized nearoptimal trajectories, while satisfying the hard constraints of specified initial and final postures (positions and orientations). Simulation experiments showing the effectiveness of the proposed technique are provided and discussed.

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“…The input law in (4) when substituted in (3) will give us system equations in the form of [16][17][18][19]:…”

Section: Kinematic and Dynamic Analysismentioning

confidence: 99%

“…Recently, more advanced techniques have been introduced [16][17][18][19] in which several optimization methods have been implemented in the multi-objective control of wheeled mobile robots. In [16] a summary of developments in the control of non-holonomic systems is provided.…”

Section: Introductionmentioning

confidence: 99%

Stabilized Feedback Control of Unicycle Mobile Robots

Khoukhi

Mohamed

2013

International Journal of Advanced Robotic Systems

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“…Research into mobile parallel manipulators is a relatively new research domain, and substantial literature has recently been published [18][19][20][21][22][23]. In this paper we use the architecture presented in [2], which consists of a threewheeled nonholonomic mobile robot and a modified 4-DOF MPM version of a DELTA parallel robot (Fig.…”

Section: Architecture Descriptionmentioning

confidence: 99%

Mobile Parallel Manipulators, Modelling and Data-Driven Motion Planning

Khoukhi

Hamdan

2013

International Journal of Advanced Robotic Systems

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This paper provides a kinematic and dynamic analysis of mobile parallel manipulators (MPM). The study is conducted on a composed multi-degree of freedom (DOF) parallel robot carried by a wheeled mobile platform. Both positional and differential kinematics problems for the hybrid structure are solved, and the redundancy problem is solved using joint limit secondary criterion-based generalized-pseudo-inverse. A minimum time trajectory parameterization is obtained via cycloidal profile to initialize multi-objective trajectory planning of the MPM. Considered objectives include time energy minimization redundancy resolution and singularity avoidance. Simulation results illustrating the effectiveness of the proposed approach are presented and discussed.

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“…Because redundant robot systems are generally strongly nonlinear and highly coupled, it is not a simple task to resolve inverse kinematics problem. Redundancy resolution is not only beneficial to obstacles avoidance and mechanism physical constraints avoidance [6][7][8] but also is used for 2 Mathematical Problems in Engineering improving motion performance based on diverse criteria [9][10][11][12]. Pseudoinverse type solution is a kind of widely used redundancy resolution [13,14].…”

Section: Introductionmentioning

confidence: 99%

Discretized Mid‐Value CLVI‐PDNN Based Redundancy Resolution for Single Leg of Quadruped Robot

Rao

Zhang

et al. 2019

Mathematical Problems in Engineering

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The two most important performance indicators of quadruped robot are load capacity and walking speed, and these performance indicators of the whole robot finally reflect on the joint torques and angular velocities. To satisfy different requirements of walking speed and load capacity when quadruped robots implement different tasks, the joint torques and angular velocities need to be balanced with physical constraints of the joints. A single leg with redundant DOF (degree of freedom) could optimize the distribution of joint torques or angular velocities based on different performance requirements. This paper presents a kind of new recurrent neural networks taking joint torques and angular velocities simultaneously into consideration and proposes mid-value CLVI-PDNN to achieve the optimal joint torques and angular velocities with physical constraints of the mechanism as described in our previous paper. Because the continuous mid-value CLVI-PDNN has difficulty in real-time operation because of too much calculation workload, two kinds of methods are proposed to discretize the mid-value CLVI-PDNN for application on computer or digital circuit. The simulation results demonstrate the efficacy of the algorithm proposed in this paper.

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A Projected Gradient Augmented Lagrangian Approach to Multi-Objective Trajectory Planning of Redundant Robots

Cited by 11 publications

References 11 publications

Stabilized Feedback Control of Unicycle Mobile Robots

Stabilized Feedback Control of Unicycle Mobile Robots

Mobile Parallel Manipulators, Modelling and Data-Driven Motion Planning

Discretized Mid‐Value CLVI‐PDNN Based Redundancy Resolution for Single Leg of Quadruped Robot

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