Two Hybrid End-Effector Posture-Maintaining and Obstacle-Limits Avoidance Schemes for Redundant Robot Manipulators

• Published in: IEEE transactions on industrial informatics Vol. 16; no. 2; pp. 754 - 763
• Main Authors: Zhang, Zhijun, Chen, Siyuan, Zhu, Xupeng, Yan, Ziyi
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 01.02.2020; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Avoidance; Collision avoidance; Computer simulation; End effectors; Linear variational inequalities primal dual neural network (LVI-PDNN); Manipulators; Motion planning; obstacle avoidance; Path tracking; physical constrains avoidance; Posture; posture maintaining; Quadratic programming; quadratic programming (QP); recurrent neural network (RNN); Recurrent neural networks; redundant manipulators; Robot arms; Robot dynamics; Robot kinematics; Robots; Service robots; Task analysis; Task complexity
• ISSN: 1551-3203; 1941-0050
• DOI: 10.1109/TII.2019.2922694

To fulfill path tracking tasks with the end-effector posture controlled in a complex environment, maintaining the robot manipulator end-effector posture and avoiding obstacles are two important issues needed to be considered. In this paper, two hybrid end-effector posture-maintaining and obstacle-limits avoidance (hybrid PM-OLA) schemes are proposed and investigated for motion planning of redundant robot manipulators, which are based on the quadratic programming (QP) framework. The end-effector posture-maintaining, obstacle-avoidance, and the joint-angular-limits are formulated as an equality constraint, inequality constraint, and bound constraint into the QP problem. With these hybrid PM-OLA schemes, the robot manipulator can avoid the obstacle and joint physical limits when executing end-effector tasks. The hybrid PM-OLA schemes are finally transformed into linear variational inequalities and solved by a recurrent neural network. Computer simulations and physical experiments substantiate the effectiveness, accuracy, safety, and the practicability of the proposed hybrid PM-OLA schemes. Comparisons with other schemes show that the proposed hybrid PM-OLA schemes are more suitable for applications.