QP-based SMP scheme for robots with pseudoinverse method compared and singularities discussed

Author

Zhang, Yunong ; Xiao, Lin

Author_Institution

Sch. of Inf. Sci. & Technol., Sun Yat-sen Univ., Guangzhou, China

fYear

2012

fDate

6-8 July 2012

Firstpage

3583

Lastpage

3588

Abstract

To achieve the self-motion planning (SMP) of redundant robot manipulators, this paper investigates an SMP scheme by considering joint physical limits. The scheme is then reformulated and unified as a quadratic program (QP) subject to equality and bound constraints. For comparison purposes, the classical pseudoinverse-type method is presented. Simulation results based on a three-link planar manipulator, PUMA560 and PA10 manipulators further substantiate the efficacy and superiority of the SMP scheme. Besides, the effect of design parameters λ and γ is investigated, and the singularities of the self-motion for redundant manipulators are discussed.

Keywords

control system synthesis; manipulators; motion control; quadratic programming; PA10 manipulators; PUMA560; QP-based SMP scheme; design parameters; planar manipulator; pseudoinverse method; quadratic program; redundant robot manipulators; self-motion planning; Joints; Manipulators; Planning; Recurrent neural networks; Trajectory; Vectors; Robot manipulators; joint physical limits; quadratic program (QP); self-motion planning (SMP);

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation (WCICA), 2012 10th World Congress on

Conference_Location

Beijing

Print_ISBN

978-1-4673-1397-1

Type

conf

DOI

10.1109/WCICA.2012.6359068

Filename

6359068