Subtask performance by redundancy resolution for redundant robot manipulators

1988 ◽  
Vol 4 (3) ◽  
pp. 350-354 ◽  
Author(s):  
I.D. Walker ◽  
S.I. Marcus
Keyword(s):  
Robot Manipulators ◽  
Redundancy Resolution ◽  
Redundant Robot

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

Robotica ◽  
2018 ◽  
Vol 36 (5) ◽  
pp. 655-675 ◽  
Author(s):  
Dongsheng Guo ◽  
Kene Li ◽  
Bolin Liao
Keyword(s):  
Motion Planning ◽  
Robot Manipulator ◽  
Robot Manipulators ◽  
Redundancy Resolution ◽  
Redundant Robot ◽  
Planning And Control ◽  
New Type ◽  
Joint Velocity ◽  
And Control ◽  
Joint Acceleration

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.

Whole Arm Grasping Control for Redundant Robot Manipulators

2005 ◽  
Author(s):  
D. Braganza ◽  
M. L. McIntyre ◽  
D. M. Dawson ◽  
I. Walker
Keyword(s):  
Robot Manipulators ◽  
Redundant Robot

Optimal Configurations for Flexible Redundant Robot Manipulators

1998 ◽  
Author(s):  
Yue Shigang
Keyword(s):  
Real Time ◽  
Robot Manipulators ◽  
Computer Time ◽  
Planning Method ◽  
Initial Configuration ◽  
Redundant Manipulator ◽  
Real Time Control ◽  
Redundant Robot ◽  
Time Control ◽  
Optimal Configurations

Abstract The significant effect of initial configurations of flexible redundant robot manipulators is analyzed in the paper. It is found that the endpoint vibrations of a flexible redundant manipulator are quite different while performing the same endpoint trajectory starting from different initial configurations. Thus an optimal initial configuration with lower vibrations is found based on analysis before the manipulator starts to move. Only small and acceptable vibrations can be stimulated if the flexible redundant manipulator starts to move from the optimal configuration. Lots of computer time can be saved compared with optimal joint planning method. The method can be used in real-time control.

Pseudoinverse-type bi-criteria minimization scheme for redundancy resolution of robot manipulators

Robotica ◽  
2014 ◽  
Vol 33 (10) ◽  
pp. 2100-2113 ◽  
Author(s):  
Bolin Liao ◽  
Weijun Liu
Keyword(s):  
Robot Manipulator ◽  
Robot Manipulators ◽  
Weighting Factor ◽  
Redundancy Resolution ◽  
Type Solution ◽  
Revolute Joints ◽  
Joint Velocity ◽  
Joint Acceleration ◽  
Minimum Velocity ◽  
Minimization Scheme

SUMMARYIn this paper, a pseudoinverse-type bi-criteria minimization scheme is proposed and investigated for the redundancy resolution of robot manipulators at the joint-acceleration level. Such a bi-criteria minimization scheme combines the weighted minimum acceleration norm solution and the minimum velocity norm solution via a weighting factor. The resultant bi-criteria minimization scheme, formulated as the pseudoinverse-type solution, not only avoids the high joint-velocity and joint-acceleration phenomena but also causes the joint velocity to be near zero at the end of motion. Computer simulation results based on a 4-Degree-of-Freedom planar robot manipulator comprising revolute joints further verify the efficacy and flexibility of the proposed bi-criteria minimization scheme on robotic redundancy resolution.

scholarly journals The Application of ZFD Formula to Kinematic Control of Redundant Robot Manipulators With Guaranteed Motion Precision

IEEE Access ◽  
2018 ◽  
Vol 6 ◽  
pp. 64777-64783 ◽  
Author(s):  
Zexin Li ◽  
Feng Xu ◽  
Qingshan Feng ◽  
Jianhuang Cai ◽  
Dongsheng Guo
Keyword(s):  
Robot Manipulators ◽  
Redundant Robot ◽  
Kinematic Control
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