Title :
Real-time joystick control and experiments of redundant manipulators using cosine-based velocity mapping
Author :
Yunong Zhang ; Ling Xie ; Zhijun Zhang ; Kene Li ; Lin Xiao
Author_Institution :
Sch. of Inf. Sci. & Technol., Sun Yat-sen Univ. (SYSU), Guangzhou, China
Abstract :
In this paper, to achieve the real-time joystick control of redundant manipulators, two schemes are proposed and investigated: one scheme is a cosine-based position-to-velocity mapping, which maps the position of the joystick in the motion range to the velocity of the robot end-effector for the real-time end-effector velocity generation; and the other is a real-time joystick-controlled motion planning (JCMP) scheme, which is based on minimum-velocity-norm (MVN) and used to resolve the velocity-assigned inverse-kinematics problem of redundant manipulators. In addition, the JCMP scheme is formulated as a standard quadratic program (QP) subject to equality and bound constraints. For the purpose of experimentation, a numerical algorithm based on piecewise-linear equations (PLE) is developed for solving the resultant QP problem. Furthermore, the proposed schemes are implemented on the planar six degrees-of-freedom (six-DOF) motor-driven push-rod robot manipulator controlled by a joystick. Computer-simulation and experiment results validate the realization and effectiveness of such schemes and the numerical algorithm.
Keywords :
end effectors; path planning; piecewise linear techniques; quadratic programming; redundant manipulators; JCMP scheme; bound constraints; cosine-based position-to-velocity mapping; equality constraints; minimum-velocity-norm; piecewise-linear equations; planar six degrees-of-freedom motor-driven push-rod robot manipulator; quadratic program; real-time joystick-controlled motion planning scheme; redundant manipulator experiment; robot end-effector velocity generation; velocity-assigned inverse-kinematics problem; Computers; Equations; Hardware; Joints; Manipulators; Real time systems; Joystick control; Piecewise-linear equations (PLE); Position-to-velocity mapping; Real-time motion planning;
Conference_Titel :
Automation and Logistics (ICAL), 2011 IEEE International Conference on
Conference_Location :
Chongqing
Print_ISBN :
978-1-4577-0301-0
Electronic_ISBN :
2161-8151
DOI :
10.1109/ICAL.2011.6024740