Simultaneous repetitive motion planning of two redundant robot arms for acceleration-level cooperative manipulation

• Published in: Physics letters. A Vol. 377; no. 34-36; pp. 1979 - 1983
• Main Authors: Zhang, Yunong, Wang, Ying, Guo, Dongsheng, Yu, Xiaotian, Xiao, Lin
• Format: Journal Article
• Language: English
• Published: Elsevier B.V 01.11.2013
• Subjects: Computer simulation; Feasibility; Joint-acceleration level; Motion planning; Quadratic program; Quadratic programming; Redundant; Remedies; Robot arms; Simultaneous repetitive motion planning; Solid state physics; Two redundant robot arms; Quadratic program; Two redundant robot arms; Joint-acceleration level; Simultaneous repetitive motion planning
• ISSN: 0375-9601; 1873-2429
• DOI: 10.1016/j.physleta.2013.06.023

This Letter proposes a novel simultaneous repetitive motion planning (SRMP) scheme of two redundant robot arms for cooperative manipulation. To remedy the joint-angle drift phenomenon, two SRMP subschemes are exploited at the joint-acceleration level. The subschemes are then simultaneously reformulated as two quadratic programs (QPs), which are finally unified into a QP problem solving. Theoretical analysis and computer simulation based on two three-link robot arms both substantiate the feasibility and effectiveness of the proposed SRMP scheme. •A two-manipulator robotic system is investigated.•A novel simultaneous repetitive motion planning scheme is proposed.•Theoretical analysis of GD-ZD type is presented.•A unified quadratic program is achieved.•Computer simulation substantiates the effectiveness of the proposed scheme.