ZE in iZ1eD1 manner for MKE redundancy resolution at velocity and acceleration levels

Guo, Dongsheng; Yan, Xiaogang; Jin, Long; Tan, Hongzhou; Zhang, Yunong

doi:10.1109/icsai.2014.7009257

Cited by 5 publications

(10 citation statements)

References 15 publications

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“…(11)- (15) and Eqs. (16)- (20) are reformulated into two concise QP problems; then the two reformulated QP problems are unified into one standard QP problem. Finally, the unified QP problem is solved by the S-LVI-PDNN solver.…”

Section: Reformulation Unification and Solution Of Qpmentioning

confidence: 99%

“…In this subsection, the Eqs. (11)- (20) are reformulated into two concise QP problems for the convenience of expression.…”

Section: Reformulationmentioning

confidence: 99%

“…To solve this inverse kinematics problem, many methods were proposed in the recent years. [18][19][20][21][22][23][24][25] The traditional method was pseudo-inverse formulation, which included a specific minimum norm solution and a homogeneous solution. 19,20 This method needs to calculate the pseudo-inverse matrix, which was complicated and time-consuming.…”

Section: Introductionmentioning

confidence: 99%

“…[18][19][20][21][22][23][24][25] The traditional method was pseudo-inverse formulation, which included a specific minimum norm solution and a homogeneous solution. 19,20 This method needs to calculate the pseudo-inverse matrix, which was complicated and time-consuming. At the same time, the traditional method results in non-repeated problems (i.e., the joint angle may not return to its initial state when the end-effector completes a closed path) [21][22][23] and it did not consider the inequality constraints.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Tri-Criteria Optimization Motion Planning at Acceleration-Level of Dual Redundant Manipulators

Jia¹,

Chen²,

Zhang³

et al. 2019

Robotica

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SUMMARYIn order to solve joint-angle drift problem of dual redundant manipulators at acceleration-level, an acceleration-level tri-criteria optimization motion planning (ALTC-OMP) scheme is proposed, which combines the minimum acceleration norm, repetitive motion planning, and infinity-norm acceleration minimization solutions via weighting factor. This scheme can resolve the joint-angle drift problem of dual redundant manipulators which will arise in single criteria or bi-criteria scheme. In addition, the proposed scheme considers joint-velocity joint-acceleration physical limits. The proposed scheme can not only guarantee joint-velocity and joint-acceleration within their physical limits, but also ensure that final joint-velocity and joint-acceleration are near to zero. This scheme is realized by dual redundant manipulators which consist of left and right manipulators. In order to ensure the coordinated operation of manipulators, two motion planning problems are reformulated as two general quadratic program (QP) problems and further unified into one standard QP problem, which is solved by a simplified linear-variational-inequalities-based primal-dual neural network at the acceleration-level. Computer-simulation results based on dual PUMA560 redundant manipulators further demonstrate the effectiveness and feasibility of the proposed ALTC-OMP scheme to resolve joint-angle drift problem arising in the dual redundant manipulators.

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Section: Reformulation Unification and Solution Of Qpmentioning

confidence: 99%

“…In this subsection, the Eqs. (11)- (20) are reformulated into two concise QP problems for the convenience of expression.…”

Section: Reformulationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Tri-Criteria Optimization Motion Planning at Acceleration-Level of Dual Redundant Manipulators

Jia¹,

Chen²,

Zhang³

et al. 2019

Robotica

View full text Add to dashboard Cite

show abstract

“…Subsequently, the MKE-type ME (MKE-ME) is presented. Then, in the general framework of ZE concept, two different kinds of the MKE-type ZE (MKE-ZE), termed MKE-ZE-I and MKE-ZE-II, are developed and investigated, which can be derived via the classical gradient-descent method [42][43][44][45] and Zhang et al's neural-dynamics method [25,[46][47][48][49][50], respectively. Specifically, MKE-ME is depicted in the pseudoinverse-based formulation, while MKE-ZE-I and MKE-ZE-II are both depicted in the QP-based formulations.…”

Section: Introductionmentioning

confidence: 99%

Analysis, Verification and Comparison on Feedback‐Aided MA Equivalence and Zhang Equivalency of Minimum‐Kinetic‐Energy Type for Kinematic Control of Redundant Robot Manipulators

Qiu

Zhang

Yang

2017

Asian Journal of Control

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By following and generalizing Ma et al.'s inspiring work and Zhang et al.'s inspiring work, this paper proposes and investigates three kinds of equivalent relationships with error-feedback information incorporated for the minimum-kinetic-energy (MKE) redundancy resolution. Specifically, these three equivalent relationships are divided into two big classes in terms of scheme formulations: one is termed MKE-type Ma equivalence (MKE-ME); the other is MKE-type Zhang equivalency (MKE-ZE), which can be further subdivided into MKE-ZE-I and MKE-ZE-II. Also, the equivalent analyses as well as the primary distinctions about three such equivalent relationships are presented. The simulation results based on a PUMA560 robot manipulator and a three-link planar robot manipulator not only verify the efficacy of the corresponding velocity-level and acceleration-level schemes of MKE-ME, MKE-ZE-I and MKE-ZE-II, but also substantiate their reasonableness and effectiveness of these three equivalent relationships. More importantly, the comparative numerical results show their respective characteristics and advantages for kinematic control of redundant robot manipulators.

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Velocity‐layer Zhang equivalency for time‐varying joint limits avoidance of redundant robot manipulator

Tang

Tan

Zhang

2022

IET Control Theory & Appl

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In the engineering field, a complex system or problem can be transformed into a relatively simple system or problem through equivalency. In this paper, the repetitive motion planning scheme of redundant robot manipulators with time‐varying physical limits are to be optimized via Zhang equivalency (ZE) approach, which includes Zhang equality equivalency (ZEE) approach and Zhang inequality equivalency (ZIE) approach. The ZE approach is presented, theoretically proved, and applied to optimize the control scheme of redundant robot manipulators at the velocity layer. After that, an enhanced repetitive motion planning scheme via ZE (ERMPS‐ZE) on the basis of quadratic programming is finally built up, which is subject to a ZEE constraint and a time‐varying unified ZIE constraint for the solution of RMP in redundant robot manipulator systems. The simulation results on UR10 robot manipulator substantiate superiorities of the proposed scheme with regard to practicality, validity, and completeness over the traditional scheme. In addition, the results of simulation experiments under different limit situations show the adjusting manners and characteristics of the redundant robot manipulator adopting ERMPS‐ZE when the manipulator encounters physical limits, which validate the correctness and efficacy of the ERMPS‐ZE. Finally, the physical experiment also substantiates the practicability of the ERMPS‐ZE.

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ZE in iZ1eD1 manner for MKE redundancy resolution at velocity and acceleration levels

Cited by 5 publications

References 15 publications

Tri-Criteria Optimization Motion Planning at Acceleration-Level of Dual Redundant Manipulators

Tri-Criteria Optimization Motion Planning at Acceleration-Level of Dual Redundant Manipulators

Analysis, Verification and Comparison on Feedback‐Aided MA Equivalence and Zhang Equivalency of Minimum‐Kinetic‐Energy Type for Kinematic Control of Redundant Robot Manipulators

Velocity‐layer Zhang equivalency for time‐varying joint limits avoidance of redundant robot manipulator

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