Repetitive Motion Planning of Robotic Manipulators With Guaranteed Precision

Guo, Dongsheng; Li, Zexin; Khan, Ameer Hamza; Feng, Qingshan; Cai, Jianhuang

doi:10.1109/tii.2020.2970172

Cited by 34 publications

(13 citation statements)

References 30 publications

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“…In this study, following the existing successful work [10], [14], [15], [27], [35], we show a further investigation on the SMP of dual-arm robot systems. That is, a new discretetime SMP (DTSMP) scheme based on the pseudoinverse formulation is presented and investigated for dual-arm robot systems, where the end-effector planning precision of each arm can be guaranteed.…”

Section: Introductionmentioning

confidence: 65%

“…Generally speaking, if the end-effector planning error of each arm can be kept within the region of a (sufficient) small value, then the (high) synchronous planing precision of the whole robot system can be guaranteed. Focus on improving the end-effector planning precision of one robot arm, Li et al [26] developed a novel recurrent neural network, and Guo et al [27] used a typical difference formula. Differing from such two methods, the methods based on auto disturbance rejection controller (ADRC) to improve the robot planning precision were investigated by Liu et al [28] and Humaidi et al [29].…”

Section: Introductionmentioning

confidence: 99%

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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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Section: Introductionmentioning

confidence: 65%

Section: Introductionmentioning

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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“…Another direction is by designing new methods for redundant manipulators with external noise [49,50]. The proposed method (13), the DTRPP scheme (16), and the DTOA scheme (18) will be studied by implementing them on a practical EPSON robot manipulator [42].…”

Section: Discussionmentioning

confidence: 99%

“…The repetitive path planning (RPP) of redundant manipulators, which originates from the work of Klein and Huang [36], is described as a closed end-effector path that yields a closed joint-angle trajectory. The RPP of redundant manipulators has been extensively studied by scientific researchers and engineering practitioners because of its importance [1,21,36,37,38,39,40,41,42,43]. In particular, De Luca et al [21] presented the following RPP scheme by selecting z = γ (θ 0 − θ ) in (3):…”

Section: Repetitive Path Planningmentioning

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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“…This is in comparison to the earlier concepts where robots were considered as mechanical manipulators [1]. Moreover, object detection and tracking for these robotic manipulators has attracted significant attraction with an aim to provide precise control mechanisms [2]. In particular, to make robots flexible, automated object detection has benefited towards a more generalized and adaptive behavior for different objects and positions [3].…”

Section: Introductionmentioning

confidence: 99%