Linear programming versus quadratic programming in robots´ repetitive redundancy resolution: A chattering phenomenon investigation

Author

Zhang, Yunong ; Guo, Dongsheng

Author_Institution

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

fYear

2009

fDate

25-27 May 2009

Firstpage

2822

Lastpage

2827

Abstract

This paper investigates and compares the linear performance index and its linear-programming (LP) formulation for online redundancy resolution of redundant robot arms, which takes repetitive-motion-planning (RMP) as an example. The LP-based RMP scheme is then applied and tested based on three different types of robot-arm models, i.e., PUMA560, PA10, and a four-link planar robot arm. Computer-simulation results show that the linear performance index and its LP-based redundancy-resolution scheme could achieve the RMP purpose but it may cause a chattering phenomenon, as compared to the more successful quadratic performance index and its quadratic programming (QP) based scheme for redundant robots.

Keywords

linear programming; manipulator kinematics; path planning; quadratic programming; chattering phenomenon; computer simulation; four-link planar robot arm model; kinematic redundant manipulator; linear programming; quadratic programming; repetitive-motion-planning; robot repetitive redundancy resolution; Information science; Kinematics; Linear programming; Manipulators; Paper technology; Performance analysis; Quadratic programming; Robot sensing systems; Sun; Testing; chattering phenomenon; linear performance index; quadratic program; redundant robot manipulators;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics and Applications, 2009. ICIEA 2009. 4th IEEE Conference on

Conference_Location

Xi´an

Print_ISBN

978-1-4244-2799-4

Electronic_ISBN

978-1-4244-2800-7

Type

conf

DOI

10.1109/ICIEA.2009.5138724

Filename

5138724