Repetitive Motion Planning and Control of Redundant Robot Manipulators

2013 ◽  
Author(s):  
Yunong Zhang ◽  
Zhijun Zhang
Keyword(s):  
Motion Planning ◽  
Robot Manipulators ◽  
Repetitive Motion ◽  
Redundant Robot ◽  
Planning And Control ◽  
And Control

New P-type RMPC Scheme for Redundant Robot Manipulators in Noisy Environment

Robotica ◽  
2019 ◽  
Vol 38 (5) ◽  
pp. 775-786 ◽  
Author(s):  
Zexin Li ◽  
Feng Xu ◽  
Dongsheng Guo ◽  
Pingjiang Wang ◽  
Bo Yuan
Keyword(s):  
Truncation Error ◽  
Robot Manipulator ◽  
Robot Manipulators ◽  
Rounding Error ◽  
Noisy Environment ◽  
Repetitive Motion ◽  
Redundant Robot ◽  
Planning And Control ◽  
P Type ◽  
And Control

SUMMARYRepetitive motion planning and control (RMPC) is a significant issue in the research of redundant robot manipulators. Moreover, noise from rounding error, truncation error, and robot uncertainty is an important factor that greatly affects RMPC schemes. In this study, the RMPC of redundant robot manipulators in a noisy environment is investigated. By incorporating the proportional and integral information of the desired path, a new RMPC scheme with pseudoinverse-type (P-type) formulation is proposed. Such a P-type RMPC scheme possesses the suppression of constant and bounded time-varying noises. Comparative simulation results based on a five-link robot manipulator and a PUMA560 robot manipulator are presented to further validate the effectiveness and superiority of the proposed P-type RMPC scheme over the previous one.

Bi-criteria minimization with MWVN–INAM type for motion planning and control of redundant robot manipulators

Robotica ◽  
2018 ◽  
Vol 36 (5) ◽  
pp. 655-675 ◽  
Author(s):  
Dongsheng Guo ◽  
Kene Li ◽  
Bolin Liao
Keyword(s):  
Motion Planning ◽  
Robot Manipulator ◽  
Robot Manipulators ◽  
Redundancy Resolution ◽  
Redundant Robot ◽  
Planning And Control ◽  
New Type ◽  
Joint Velocity ◽  
And Control ◽  
Joint Acceleration

SUMMARYThis study proposes and investigates a new type of bi-criteria minimization (BCM) for the motion planning and control of redundant robot manipulators to address the discontinuity problem in the infinity-norm acceleration minimization (INAM) scheme and to guarantee the final joint velocity of motion to be approximate to zero. This new type is based on the combination of minimum weighted velocity norm (MWVN) and INAM criteria, and thus is called the MWVN–INAM–BCM scheme. In formulating such a scheme, joint-angle, joint-velocity, and joint-acceleration limits are incorporated. The proposed MWVN–INAM–BCM scheme is reformulated as a quadratic programming problem solved at the joint-acceleration level. Simulation results based on the PUMA560 robot manipulator validate the efficacy and applicability of the proposed MWVN–INAM–BCM scheme in robotic redundancy resolution. In addition, the physical realizability of the proposed scheme is verified in practical application based on a six-link planar robot manipulator.

Obstacle Modelling Oriented to Safe Motion Planning and Control for Planar Rigid Robot Manipulators

2012 ◽  
Vol 71 (2) ◽  
pp. 159-178 ◽  
Author(s):  
Luca Massimiliano Capisani ◽  
Tullio Facchinetti ◽  
Antonella Ferrara ◽  
Alessandro Martinelli
Keyword(s):  
Motion Planning ◽  
Robot Manipulators ◽  
Planning And Control ◽  
And Control

Repetitive Motion Planning and Control on Redundant Robot Manipulators With Push-Rod-Type Joints

2012 ◽  
Vol 135 (2) ◽  
Author(s):  
Z. Zhang ◽  
Y. Zhang
Keyword(s):  
Motion Planning ◽  
Degrees Of Freedom ◽  
Quadratic Program ◽  
Error Feedback ◽  
Repetitive Motion ◽  
Six Degrees Of Freedom ◽  
Planning And Control ◽  
Joint Velocity ◽  
And Control ◽  
Joint Limit

To demonstrate the hardware realizability and efficacy of the quadratic program (QP) based methods for solving the nonrepetitive problem, this paper proposes a novel repetitive motion planning and control (RMPC) scheme and realizes this scheme on a physical planar six degrees-of-freedom (DOF) push-rod-joint (PRJ) manipulator. To control the PRJ manipulator, this scheme considers variable joint-velocity limits and joint-limit margins. In addition, to decrease the errors, this scheme considers the position-error feedback. Then, the scheme is reformulated as a QP problem. Due to control of the digital computer, a discrete-time QP solver is presented to solve the QP problem. For comparison, both of the nonrepetitive and repetitive motions are performed on the manipulator to track square and B-shaped paths. Experimental results validate the physical realizability and effectiveness of the RMPC scheme.

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