Bi-criteria minimization with MWVN–INAM type for motion planning and control of redundant robot manipulators

Abstract

SUMMARYThis study proposes and investigates a new type of bi-criteria minimization (BCM) for the motion planning and control of redundant robot manipulators to address the discontinuity problem in the infinity-norm acceleration minimization (INAM) scheme and to guarantee the final joint velocity of motion to be approximate to zero. This new type is based on the combination of minimum weighted velocity norm (MWVN) and INAM criteria, and thus is called the MWVN–INAM–BCM scheme. In formulating such a scheme, joint-angle, joint-velocity, and joint-acceleration limits are incorporated. The proposed MWVN–INAM–BCM scheme is reformulated as a quadratic programming problem solved at the joint-acceleration level. Simulation results based on the PUMA560 robot manipulator validate the efficacy and applicability of the proposed MWVN–INAM–BCM scheme in robotic redundancy resolution. In addition, the physical realizability of the proposed scheme is verified in practical application based on a six-link planar robot manipulator.

Acceleration-Level Obstacle Avoidance of Redundant Manipulators

“…As presented in the existing literature [1]- [3], [27]- [31], the path planning of redundant manipulators can be studied at velocity level:…”

“…whereθ andθ denote respectively the joint velocity and joint acceleration, J denotes the manipulator Jacobian matrix [32] withJ as its derivative, andṙ d denotes the derivative of r d witḧ r d as its derivative. Notably, (2) and 3are underdetermined owing to m < n. By solving (2) and 3properly, the path planning with additional characteristics (e.g., repeatability and performance optimization) can be realized for redundant manipulators [30], [31].…”

Discrete Perturbation-Immunity Neural Network for Dynamic Constrained Redundant Robot Control

“…In terms of robotics concerned in current research, almost all robot manipulators are constrained physically. Particularly, the joint variables should be kept within their physically limited regions [31]- [35] because exceeding the joint physical limits would cause failure in the motion planning of physically constrained redundant robot manipulators. Consequently, it is necessary to study dynamic QP constrained by inequalities.…”

New P-type RMPC Scheme for Redundant Robot Manipulators in Noisy Environment

“…Redundant robot manipulators have recently attracted great attention in many scientific and industrial fields. [1][2][3][4][5] Repetitive motion planning and control (RMPC) is necessary for redundant robot manipulators because non-repetitive motion can result in an unpredictable behavior that may cause damage to robot manipulators. Achieving RMPC is an important issue in redundant robot manipulators, and many studies on RMPC have thus been conducted and reported.…”