Kinematic Control of Redundant Robot Arms Using Neural Networks

Ли, Шуай; Jin, Long; Mirza, Mohammed Aquil

doi:10.1002/9781119557005

Cited by 16 publications

(14 citation statements)

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“…This means that each pair of the obstacle and critical points leads to three inequalities. By contrast, each pair results in only one inequality in (5). Evidently, with a large value, the number of inequalities in J Gθ b G would be much more than that in (5).…”

Section: B New Inequality For Obstacle Avoidancementioning

confidence: 94%

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Acceleration-Level Obstacle Avoidance of Redundant Manipulators

2019

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Avoiding obstacle during path planning is a crucial issue in redundant manipulators. In this study, the obstacle avoidance of redundant manipulators, which is investigated at acceleration level, is presented. Specifically, a new acceleration-level inequality is designed and formulated, which is proven to be capable of avoiding obstacle. By combining the end-effector planning requirement (formulated as equality constraint) and incorporating the physical limits (formulated as bound constraints), the accelerationlevel obstacle avoidance (ALOA) scheme for redundant manipulators is proposed. Such scheme is transformed into a quadratic program and is computed by a numerical algorithm. Simulation results under the PA10 manipulator with different obstacles further validate the effective performance of the proposed ALOA scheme. INDEX TERMS Acceleration-level obstacle avoidance, redundant manipulators, quadratic program.

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Section: B New Inequality For Obstacle Avoidancementioning

confidence: 94%

“…By contrast, each pair results in only one inequality in (5). Evidently, with a large value, the number of inequalities in J Gθ b G would be much more than that in (5). Notably, in the next section, (5) is incorporated into the scheme formulation as an inequality constraint.…”

Section: B New Inequality For Obstacle Avoidancementioning

confidence: 99%

Acceleration-Level Obstacle Avoidance of Redundant Manipulators

2019

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“…As for dual-arm robot systems, one future research direction can be the study of designing the SMP schemes by using the approach of neural networks [42]- [44]. Another future research direction can be the study of designing the SMP schemes by considering the handle of additive noise, environmental obstacle, and/or physical limits [45]- [47].…”

Section: Discussionmentioning

confidence: 99%

Investigation on a New Discrete-Time Synchronous Motion Planning Scheme for Dual-Arm Robot Systems

Wang

Guo

2020

IEEE Access

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Recently, the synchronous motion planning (SMP) has been viewed as a crucial issue in dual-arm robot systems. In this study, a new SMP scheme based on the Jacobian pseudoinverse formulation is presented and investigated for dual-arm robot systems. Such a scheme is established by discretizing the existing SMP scheme via a special difference formula. The presented discrete-time SMP (DTSMP) scheme is then theoretically analyzed to possess the biquadrate pattern in the end-effector planning error of each arm, thereby guaranteeing the synchronous planning precision of dual-arm robot systems. Simulation results under the system composed of two four-link planar robot arms are provided to further substantiate the effective and superior performance of the presented DTSMP scheme.INDEX TERMS Synchronous motion planning, dual-arm robot systems, biquadrate pattern, planning precision, simulations

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“…Redundant manipulators have more degrees of freedom (DOF) than the required DOF for performing a specific end-effector planning task [1,2,3]. They have played an increasingly important role in numerous areas in recent years.…”

Section: Introductionmentioning

confidence: 99%

“…They have played an increasingly important role in numerous areas in recent years. Many researchers and practitioners have made contributions to redundant manipulators [1,2,3,4,5,6]. Inverse kinematics (IK), which is also called the redundancy resolution, is an essential issue in the study of redundant manipulators.…”

Section: Introductionmentioning

confidence: 99%

Inverse kinematics of redundant manipulators with guaranteed performance

Guo

Cai

et al. 2021

Robotica

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In this paper, the inverse kinematics (IK) of redundant manipulators is presented and studied, where the performance of end-effector path planning is guaranteed. A new Jacobian pseudoinverse (JP)-based IK method is proposed and studied using a typical numerical difference rule to discretize the existing IK method based on JP. The proposed method is depicted in a discrete-time form and is theoretically proven to exhibit great performance in the IK of redundant manipulators. A discrete-time repetitive path planning (DTRPP) scheme and a discrete-time obstacle avoidance (DTOA) scheme are developed for redundant manipulators using the proposed method. Comparative simulations are conducted on a universal robot manipulator and a PA10 robot manipulator to validate the effectiveness and superior performance of the DTRPP scheme, the DTOA scheme, and the proposed JP-based IK method.

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Kinematic Control of Redundant Robot Arms Using Neural Networks

Cited by 16 publications

References 0 publications

Acceleration-Level Obstacle Avoidance of Redundant Manipulators

Acceleration-Level Obstacle Avoidance of Redundant Manipulators

Investigation on a New Discrete-Time Synchronous Motion Planning Scheme for Dual-Arm Robot Systems

Inverse kinematics of redundant manipulators with guaranteed performance

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