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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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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description 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.
doi_str_mv 10.1016/j.rcim.2011.02.001
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source ScienceDirect Freedom Collection
subjects Computer simulation
Drift
Dynamics
Effectiveness
Kinematics
Manipulators
Quadratic programming
Redundant
Redundant robots
Remedies
Repetitive motion planning
Robot arms
Robots
title Remedy scheme and theoretical analysis of joint-angle drift phenomenon for redundant robot manipulators
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