Bi-criteria velocity minimization of robot manipulators using LVI-based primal-dual neural network and illustrated via PUMA560 robot arm

Robotica

Volumn 28, Issue 4, 2010, Pages 525-537

  Zhang, Yunong ^a   Li, Kene ^a  

^a SUN YAT SEN UNIVERSITY   (China)

Author keywords

Bi criteria inverse kinematics; Minimum infinity norm scheme; Neural networks; Quadratic programming; Redundant manipulators

Indexed keywords

BI-CRITERIA; BI-CRITERIA INVERSE KINEMATICS; DISCONTINUITY POINTS; JOINT LIMITS; JOINT VELOCITY; MINIMUM INFINITY-NORM SCHEME; PHYSICAL LIMITS; PIECEWISE LINEAR; PLANNING SCHEME; PRIMAL-DUAL; QP SOLVERS; REDUNDANT ROBOT ARMS; ROBOT ARMS; ROBOT MANIPULATOR;

COMPUTATIONAL EFFICIENCY; COMPUTER SIMULATION; INVERSE KINEMATICS; OPTIMIZATION; PIECEWISE LINEAR TECHNIQUES; REDUNDANT MANIPULATORS; ROBOT APPLICATIONS; ROBOT PROGRAMMING; ROBOTIC ARMS; VELOCITY;

NEURAL NETWORKS;

EID: 77954543573     PISSN: 02635747     EISSN: 14698668     Source Type: Journal    
DOI: 10.1017/S0263574709005839     Document Type: Article

References (33)

1. L. Sciavicco and B. Siciliano, Modelling and Control of Robot Manipulators (Springer-Verlag, London, UK, 2000).
2. J. P. Puga and L. E. Chiang, "Optimal trajectory planning for a redundant mobile manipulator with non-holonomic constraints performing push-pull tasks," Robotica 26, 385-394 (2008).
3. A. Meghdari, D. Naderi and S. Eslami, "Optimal stability of a redundant mobile manipulator via genetic algorithm," Robotica 24, 739-743 (2006).
4. U. Ozbay, H. T. Sahin and E. Zergeroglu, "Robust tracking control of kinematically redundant robot manipulators subject to multiple self-motion criteria," Robotica 26, 711-728 (2008). (doi:10.1017/S0263574708004293)
5. V. Padois, J.-Y. Fourquet and P. Chiron, "Kinematic and dynamicmodel-based control ofwheeled mobile manipulators: A unified framework for reactive approaches," Robotica 25, 157-173 (2001).
6. C. A. Klein and C.-H. Huang, "Review of pseudoinverse control for use with kinematically redundant manipulators," IEEE Trans. Syst. Man Cybern. B 13(3), 245-250 (1983).
7. A. S. Deo and I. D. Walker, "Minimum effort inverse kinematics for redundant manipulators," IEEE Trans. Robot. Autom. 13(5), 767-775 (1997).
8. I. A. Gravagne and I. D.Walker, "On the structure of minimum effort solutions with application to kinematic redundancy resolution," IEEE Trans. Robot. Autom. 16(6), 767-775 (2000).
9. J. Lee, "Astructured algorithm for minimum l∞-norm solutions and its application to a robot velocity workspace ananlysis," Robotica 19, 343-352 (2001).
10. J. Wang, Q. Hu and D. Jiang, "A Lagrangian network for kinematic control of redundant manipulators," IEEE Trans. Neural Netw. 10(5), 1123-1132 (1999).
11. Z. Mao and T. C. Hsia, "Obstacle avoidance inverse kinematics solution of redundant robots by neural networks," Robotica 15, 3-10 (1997).
12. Y. Zhang, S. S. Ge and T. H. Lee, "A unified quadratic programming based on dynamical system approach to joint torque optimization of physically constrained redundant manipulators," IEEE Trans. Syst. Man Cybern. B 34(5), 2126-2132 (2004).
13. H. Ding and S.K. Tso, "Afully neural-network-based planning scheme for torque minimization of redundant manipulators," IEEE Trans. Ind. Electron. 46(1), 199-206 (1999).
14. W. S. Tang and J. Wang, "A recurrent neural network for minimum infinity-norm kinematic control of redundant manipulators with an improved problem formulation and reduced architecture complexity," IEEE Trans. Syst. Man Cybern. B 31(1), 98-105 (2001).
15. H. Ding and J.Wang, "Recurrent neural networks forminimum infinity-norm kinematic control of redundant manipulators," IEEE Trans. Syst. Man Cybern. A 29(3), 269-276 (1999).
16. J. Wang, "Recurrent neural networks for computing pseudoinverses of rank-deficient matrices," SIAM J. Sci. Comput. 18(5), 1479-1493 (1997).
17. Y. Xia and J. Wang, "A dual neural network for kinematic control of redundant robot manipulators," IEEE Trans. Syst. Man Cybern. B 31(1), 147-154 (2001).
18. Y. Xia, "A new neural network for solving linear programming problems and its application," IEEE Trans. Neural Netw. 7, 525-529 (1996). (Pubitemid 126774443)
19. B. Allotta, V. Colla and G. Bioli, "Kinematic control of robots with joint constraints," ASME J. Dyn. Syst. Meas. Control 121(3), 433-442 (1999).
20. Y. Zhang, J. Wang and Y. Xu, "A dual neural network for bicriteria kinematic control of redundant manipulators," IEEE Trans. Robot. Autom. 18(6), 923-931 (2002).
21. Y. Zhang, J. Wang and Y. Xia, "A dual neural network for redundancy resolution of kinematically redundant manipulators subject to joint limits and joint velocity limits," IEEE Trans. Neural Netw. 14(3), 658-667 (2003).
22. Y. Zhang and J. Wang, "A dual neural network for convex quadratic programming subject to linear equality and inequality constraints," Phys. Lett. A 298(4), 271-278 (2002).
23. J. Wang and Y. Zhang, "Recurrent Neural Networks for Real-Time Computation of Inverse Kinematics of Redundant Manipulators," In: Machine Intelligence: Quo Vadis? (P. Sincak, J. Vascak and K. Hirota, eds.) (World Scientific, Singapore, 2004). pp. 299-319.
24. A. Bouzerdoum and T. R. Pattison, "Neural network for quadratic optimization with bound constraints," IEEE Trans. Neural Netw. 4(2), 293-304 (1993).
25. Y. Zhang, "A set of nonlinear equations and inequalities arising in robotics and its online solution via a primal neural network," Neurocomputing 70, 513-524 (2006).
26. Y. Zhang and S. Ma, "Minimum-Energy Redundancy Resolution of Robot Manipulators Unified by Quadratic Programming and its Online Solution," Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, Harbin, China (2007) pp. 3232-3237.
27. C. Qiu, Q. Cao and S. Miao, "An on-line task modification method for singularity avoidance of robot manipulators," Robotica 27(4), 539-546 (2008).
28. P. S. Donelan, "Singularity-theoretic methods in robot kinematics," Robotica 25, 641-659 (2007).
29. Y. Zhang and J. Wang, "A dual neural network for constrained joint torque optimization of kinematically redundant manipulators," IEEE Trans. Syst. Man Cybern. B 32(5), 654-662 (2002).
30. Y. Zhang, Z. Tan, Z. Yang and X. Lv, "A Dual Neural Network Applied to Drift-Free Resolution of Five-Link Planar Robot Arm," Proceedings of the 2008 IEEE International Conference on Information and Automation, Zhangjiajie, China (2008) pp. 1274-1279.
31. Y. Zhang, B. Cai, L. Zhang and K. Li, "Bi-criteria velocity minimization of robot manipulators using a linear variational inequalityes-based primal-dual neural network and PUMA560 example," Adv. Robot. 22, 1479-1496 (2008).
32. Y. Zhang, "Dual Neural Networks: Design, Analysis, And Application to Redundant Robotics," In Progress in Neurocomputing Research (G. B. Kang ed.) (Nova Science Publishers, New York, 2007). pp. 41-81.
33. Y. Zhang, "On the LVI-Based Primal-Dual Neural Network for SolvingOnline Linear andQuadratic Programming Problems," Proceedings of American Control Conference, Portland, OR, USA (2005) pp. 1351-1356.