Title :
A Single Network Adaptive Critic-Based Redundancy Resolution Scheme for Robot Manipulators
Author :
Patchaikani, Prem Kumar ; Behera, Laxmidhar ; Prasad, Girijesh
Author_Institution :
Dept. of Electr. Eng., Indian Inst. of Technol., Kanpur, India
Abstract :
This paper proposes an adaptive critic-based real-time redundancy resolution scheme for kinematic control of a redundant manipulator. The kinematic control of the redundant manipulator is formulated as a discrete-time input affine system, and then, an optimal real-time redundancy resolution scheme is proposed. The optimal control law is derived in real time using an adaptive critic framework. The proposed single network adaptive critic-based methodology defines the additional task in terms of integral cost function which results in global optimal solution. With adaptive critic-based optimal control scheme, the optimal redundancy resolution is achieved in real time without the computation of inverse, which makes the method computationally efficient. The problem formulation as proposed in this paper is first of its kinds. Furthermore, the real-time optimal redundancy resolution using an integral cost function has been comprehensively solved, which is also a novel contribution. The proposed scheme is tested in both simulation and experiment on a seven-degree-of-freedom PowerCube manipulator from Amtec Robotics.
Keywords :
adaptive control; discrete time systems; optimal control; redundant manipulators; Amtec Robotics; PowerCube manipulator; adaptive critic-based redundancy resolution; degree of freedom; discrete time input affine system; integral cost function; kinematic control; optimal control law; optimal real-time redundancy resolution scheme; redundant manipulator; robot manipulators; Adaptive systems; Joints; Kinematics; Manipulator dynamics; Optimal control; Redundancy; Adaptive critic; approximate dynamic programming (ADP); inverse kinematic control; redundancy resolution; redundant manipulator;
Journal_Title :
Industrial Electronics, IEEE Transactions on
DOI :
10.1109/TIE.2011.2143372