Remedy scheme and theoretical analysis of joint-angle drift phenomenon for redundant robot manipulators

A quadratic programming (QP)-based method, as a remedy for joint angle drifts, is employed for redundant robot manipulators with physical constraints (e.g., joint-angle limits and joint-velocity limits) considered. By using the QP-based redundancy-resolution scheme, real-time repetitive motion plann...

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Bibliographic Details
Published in:Robotics and computer-integrated manufacturing 2011-08, Vol.27 (4), p.860-869
Main Authors: Zhang, Yunong, Guo, Dongsheng, Cai, Binghuang, Chen, Ke
Format: Article
Language:English
Subjects:
Computer simulation
Drift
Dynamics
Effectiveness
Kinematics
Manipulators
Quadratic programming
Redundant
Redundant robots
Remedies
Repetitive motion planning
Robot arms
Robots
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Summary:A quadratic programming (QP)-based method, as a remedy for joint angle drifts, is employed for redundant robot manipulators with physical constraints (e.g., joint-angle limits and joint-velocity limits) considered. By using the QP-based redundancy-resolution scheme, real-time repetitive motion planning (RMP) can be achieved in a drift-free manner. Theoretical analyses based on gradient-descent and neural-dynamic methods are also conducted. Based on analyses, the efficacy of the presented QP-based RMP scheme for redundant manipulators is successfully explained. To demonstrate the effectiveness of the RMP scheme, different kinds of redundant robot manipulators, such as PA10, PUMA560, and a six-link planar robot arm, are tested in order to perform circular and straight line end-effector trajectories by using computer simulations. Both theoretical analysis and computer simulation results have demonstrated the efficacy of the QP-based RMP scheme.
ISSN:0736-5845
1879-2537
DOI:10.1016/j.rcim.2011.02.001