Self-motion planning of redundant robot manipulators based on quadratic program and shown via PA10 example

In this paper, a criterion is proposed in the form of a quadratic function for the purpose of self-motion planning of redundant robot arms. The proposed self-motion scheme with joint physical limits considered could be formulated as a quadratic programming (QP) problem subject to equality, (inequali...

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Bibliographic Details
Published in2008 2nd International Symposium on Systems and Control in Aerospace and Astronautics pp. 1 - 6
Main Authors Yunong Zhang, Hong Zhu, Zhiguo Tan, Binghuang Cai, Zhi Yang
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2008
Subjects
Information science
Manipulator dynamics
Mechanical systems
Motion control
Neural networks
Piecewise linear techniques
Quadratic programming
Robot sensing systems
Sun
Technology planning
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ISBN9781424423859
1424439086
9781424439089
1424423856
DOI10.1109/ISSCAA.2008.4776238

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Summary:In this paper, a criterion is proposed in the form of a quadratic function for the purpose of self-motion planning of redundant robot arms. The proposed self-motion scheme with joint physical limits considered could be formulated as a quadratic programming (QP) problem subject to equality, (inequality) and bound constraints. A primal-dual neural network based on linear variational inequalities (LVI) is developed as the real-time solver for the resultant quadratic-program. The so-called LVI-based primal-dual neural network has a simple piecewise-linear dynamics and a global exponential convergence to optimal solutions of QP problems. Computer-simulations performed based on PA10 robot arm substantiate the efficacy of the proposed QP-based neural self-motion-planning scheme.
ISBN:9781424423859
1424439086
9781424439089
1424423856
DOI:10.1109/ISSCAA.2008.4776238