The Improved Compact QP Method For Resolving Manipulator Redundancy

IEEE Transactions on Systems, Man, and Cybernetics

Volumn 25, Issue 11, 1995, Pages 1521-1530

  Cheng, Fan Tien ^a   Sheu, Rong Jing ^a   Chen, Tsing Hua ^a  

^a NATIONAL CHENG KUNG UNIVERSITY   (Taiwan)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTATIONAL METHODS; CONSTRAINT THEORY; DEGREES OF FREEDOM (MECHANICS); END EFFECTORS; INVERSE KINEMATICS; MANIPULATORS; MATRIX ALGEBRA; OPTIMIZATION; PROBLEM SOLVING; ROBOTICS; VECTORS;

IMPROVED COMPACT METHOD; MANIPULATOR REDUNDANCY; REDUNDANCY PROBLEM;

ALGORITHMS;

EID: 0029405076     PISSN: 00189472     EISSN: 21682909     Source Type: Journal    
DOI: 10.1109/21.467718     Document Type: Article

References (27)

1. A. Liégeois, “Automatic supervisory control of the configuration and behavior of multibody mechanisms,” IEEE Trans. Syst. Man Cyber., vol. SMC-7, no. 12, pp. 868–871, Dec. 1977.
2. D. E. Whitney, “The mathematics of coordinated control of prosthetic arms and manipulators,” Trans. ASME J. Dynamic Syst. Meas. Contr., pp. 303–309, Dec. 1972.
3. C. A. Klein and A. I. Chirco, “Dynamic simulation of a kinematically redundant manipulator system,” J. Robotic Syst., vol. 4, no. 1, pp. 5–23, 1987.
4. T. Yoshikawa, “Manipulability of robotic mechanisms,” Int. J. Robotics Res., vol. 4, no. 2, pp. 3–9, Summer 1985.
5. R. V. Mayorga and A. K. C. Wong, “A singularities prevention approach for redundant robot manipulators,” in Proc. 1990 IEEE Int. Conf. Robotics Automat., pp. 812–817.
6. Y. Nakamura, H. Hanafusa, and T. Yoshikawa, “Task-priority based redundancy control of robot manipulators,” Int. J. Robotics Res., vol. 6, no. 2, pp. 3–15, Summer 1987.
7. I. D. Walker and S. I. Marcus, “Subtask performance by redundancy resolution for redundant robot manipulators,” IEEE J. Robotics Automat., vol. 4, no. 3, pp. 350–354, June 1988.
8. A. A. Maciejewski and C. A. Klein, “Obstacle avoidance for kinematically redundant manipulators in dynamically varying environments,” Int. J. Robotics Res., vol. 4, no. 3, pp. 109–117, Fall 1985.
9. J. M. Hollerbach and K. C. Suh, “Redundancy resolution of manipulators through torque optimization,” IEEE J. Robotics Automat., vol. RA-3, no. 4, pp. 308–316, 1987.
10. T.-H. Chen, F.-T. Cheng, Y.-Y. Sun, and M.-H. Hung, “Torque optimization schemes for kinematically redundant manipulators,” J. Robotic Syst., vol. 11, no. 4, pp. 257–269, June 1994.
11. F.-T. Cheng, T.-H. Chen, and Y.-Y. Sun, “Resolving manipulator redundancy under inequality constraints,” IEEE Trans. Robotics Automat., vol. 10, no. 1, pp. 65–71, Feb. 1994.
12. D. G. Luenberger, Linear and Nonlinear Programming, 2nd ed. Reading, MA: Addison-Wesley, 1984.
13. F.-T. Cheng, T.-H. Chen, Y.-S. Wang, and Y.-Y. Sun, “Obstacle avoidance for redundant manipulators using the compact QP method,” in Proc. 1993 IEEE Int. Conf. Robotics Automat., pp. 262–269
14. G. Strange, Linear Algebra and Its Applications, 2nd ed. New York: Academic, 1980.
15. D. Goldfarb and A. Idnani, “A numerically stable dual method for solving strictly convex quadratic programs,” Mathematical Programming, vol. 27, pp. 1–33, 1983.
16. J. M. Hollerbach, “Optimum kinematic design for a seven degree-of-freedom manipulator,” in Robotics Res.: Second Int. Symp., H. Hanafusa and H. Inoue, Eds. Cambridge, MA: MIT Press, 1985, pp. 215–222.
17. D. E. Orin and W. W. Schrader, “Efficient computation of the Iacobian for robot manipulators,” Int. J. Robotics Res., vol. 3, no. 4, pp. 66–75, Winter 1984.
18. T. M. Abdel-Rahman, “A generalized practical method for analytic solution of the constrained inverse kinematics problem of redundant manipulators,” Int. J. Robotics Res., vol. 10, no. 4, pp. 382–395, Aug. 1991.
19. M. W. Spong and M. Vidyasagar, Robot Dynamics and Control. New York: Wiley, 1989.
20. R. V. Dubey, J. A. Euler, and S. M. Babcock, “An efficient gradient projection optimization scheme for a seven-degree-of freedom redundant robot with spherical wrist,” in Proc. 1988 IEEE Int. Conf. Robotics Automat., pp. 28–36.
21. IMSL Library User's Manual, IMSL Inc., Houston, TX, 1987.
22. M. A. Nahon and J. Angeles, “Real-time force optimization in parallel kinematic chains under inequality constraints,” IEEE Trans. Robotics Automat., vol. 8, no. 4, pp. 439–450, Aug. 1992.
23. T. Yoshikawa and S. Kiriyama, “Four-joint redundant wrist mechanism and its control,” Trans. ASME J. Dynamic Syst. Meas. Conn., pp. 200–204, June 1989.
24. M. V. Kirćanski and T. M. Petrović, “Inverse kinematic solution for a 7 DOF robot with minimal computational complexity and singularity avoidance,” in Proc. 1991 IEEE Int. Conf. Robotics Automat., pp. 2664–2669.
25. K. S. Fu, R. C. Gonzalez, and C. S. G. Lee, Robotics— Control, Sensing, Vision, and Intelligence. Singapore: McGraw-Hill, 1987.
26. R. P. Paul and C. N. Stevenson, “Kinematics of robotic wrists,” Int. J. Robotics Res., vol. 2, no. 1, pp. 31–38, Spring 1983.
27. T. Yoshikowa, “Analysis and control of robot manipulators with redundancy,” Robotics Res.: First Int. Symp., M. Brady and R. Paul, Eds. Cambridge, MA: MIT Press, 1984, pp. 735–748.