A new inequality-based obstacle-avoidance MVN scheme and its application to redundant robot manipulators

IEEE Transactions on Systems, Man and Cybernetics Part C: Applications and Reviews

Volumn 42, Issue 6, 2012, Pages 1326-1340

  Guo, Dongsheng ^a   Zhang, Yunong ^a  

^a SUN YAT SEN UNIVERSITY   (China)

Author keywords

Inequality constraint; kinematics; obstacle avoidance; quadratic program (QP); redundant robots

Indexed keywords

INEQUALITY CONSTRAINT; LINEAR VARIATIONAL INEQUALITIES; NUMERICAL ALGORITHMS; PHYSICAL CONSTRAINTS; PHYSICAL REALIZABILITY; PLANAR ROBOTS; PRIMAL-DUAL; QP SOLVERS; QP-PROBLEM; QUADRATIC PROGRAMS; REDUNDANCY RESOLUTION; REDUNDANT ROBOT; ROBOT MANIPULATOR;

ALGORITHMS; COLLISION AVOIDANCE; CONSTRAINT THEORY; INDUSTRIAL ROBOTS; KINEMATICS; MODULAR ROBOTS; REDUNDANT MANIPULATORS; ROBOT APPLICATIONS; VARIATIONAL TECHNIQUES;

FLEXIBLE MANIPULATORS;

EID: 84871792049     PISSN: 10946977     EISSN: None     Source Type: Journal    
DOI: 10.1109/TSMCC.2012.2183868     Document Type: Article

References (43)

1. Y. Zhang, "Analysis and design of recurrent neural networks and their applications to control and robotic systems," Ph.D. dissertation, Dept. Automat. Comput.-Aided Eng., Chinese Univ. Hong Kong, Hong Kong, 2002.
2. B. Siciliano and O. Khatib, Springer Handbook of Robotics. Heidelberg, Germany: Springer-Verlag, 2008.
3. Y. H. Kim and F. L. Lewis, "Optimal design of CMAC neural-network controller for robot manipulators," IEEE Trans. Syst., Man, Cybern. C, Appl. Rev., vol. 30, no. 1, pp. 22-31, Feb. 2000.
4. I. Infantino, A. Chella, H. Dindo, and I. Macaluso, "A cognitive architecture for robotic hand posture learning," IEEE Trans. Syst., Man, Cybern. C, Appl. Rev., vol. 35, no. 1, pp. 42-52, Feb. 2005. (Pubitemid 40200546)
5. W. Khalil, G. Gallot, and F. Boyer, "Dynamic modeling and simulation of a 3-D serial eel-like robot," IEEE Trans. Syst., Man, Cybern. C, Appl. Rev., vol. 37, no. 6, pp. 1259-1268, Nov. 2007. (Pubitemid 350130717)
6. A. Loredo-Flores, E. J. González-Galván, J. J. Cervantes-Sánchez, and A. Martínez-Soto, "Optimization of industrial, vision-based, intuitively generated robot point-allocating tasks using genetic algorithms," IEEE Trans. Syst., Man, Cybern. C, Appl. Rev., vol. 38, no. 4, pp. 600-608, Jul. 2008.
7. J. Kramer and A. Kandel, "Robust small robot localization from highly uncertain sensors," IEEE Trans. Syst., Man, Cybern. C, Appl. Rev., vol. 41, no. 4, pp. 509-519, Jul. 2011.
8. M. L. Latash, Control of Human Movement. Chicago, IL: Human Kinematics, 1993.
9. T. Sugie, K. Fujimoto, and Y. Kito, "Obstacle avoidance of manipulators with rate constraints," IEEE Trans. Robot. Autom., vol. 19, no. 1, pp. 168-174, Feb. 2003.
10. A. A. Maciekewski and C. A. Klein, "Obstacle avoidance for kinematically redundant manipulators in dynamically varying environments," Int. J. Robot. Res., vol. 4, no. 3, pp. 109-117, 1985.
11. L.Sciavicco andB. Sicilino, "Asolution algorithm to the inverse kinematic problem for redundant manipulators," IEEE J. Robot. Autom., vol. 4, no. 4, pp. 403-410, Aug. 1988.
12. K.-K. Lee and M. Buss, "Obstacle avoidance for redundant robots using Jacobian transpose method," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., 2007, pp. 3509-3514.
13. R. Volpe and P. Khosla, "Manipulator control with superquadric artificial potential functions: Theory and experiments," IEEE Trans. Syst., Man, Cybern., vol. 20, no. 6, pp. 1423-1436, Nov./Dec. 1990.
14. S. S. Ge and Y. J. Cui, "New potential functions for mobile robot path planning," IEEE Trans. Robot. Autom., vol. 16, no. 5, pp. 615-620, Oct. 2000. (Pubitemid 32067019)
15. Y. Wang and D. M. Lane, "Solving a generalized constrained optimization problem with both logic AND and OR relationships by a mathematical transformation and its application to robot motion planning," IEEE Trans. Syst., Man, Cybern. C, Appl. Rev., vol. 30, no. 4, pp. 525-536, Nov. 2000. (Pubitemid 32190909)
16. C.-H. Tsai, J.-S. Lee, and J.-H. Chuang, "Path planning of 3-D objects using a new workspace model," IEEE Trans. Syst., Man, Cybern. C, Appl. Rev. vol. 31, no. 3, pp. 405-410, Aug. 2001. (Pubitemid 34055482)
17. T. Tsuji, Y. Tanaka, P. G. Morasso, V. Sanguineti, and M. Kaneko, "Bio-mimetic trajectory generation of robots via artificial potential field with time base generator," IEEE Trans. Syst., Man, Cybern. C, Appl. Rev., vol. 32, no. 4, pp. 426-439, Nov. 2002.
18. H. Li, S. X. Yang, and M. L. Seto, "Neural-network-based path planning for a multirobot system with moving obstacles," IEEE Trans. Syst., Man, Cybern. C, Appl. Rev., vol. 39, no. 4, pp. 410-419, Jul. 2009.
19. S. Wen, W. Zheng, J. Zhu, X. Li, and S. Chen, "Elman fuzzy adaptive control for obstacle avoidance of mobile robots using hybrid force/position incorporation," IEEE Trans. Syst., Man, Cybern. C, Appl. Rev. vol. 99, pp. 1-6, 2011.
20. J. J. Zhang, Y. F. Lu, and B. Wang, "A nonrecursive Newton-Euler formulation for the parallel computation of manipulator inverse dynamics," IEEE Trans. Syst., Man, Cybern. C, Appl. Rev., vol. 28, no. 3, pp. 467-471, Aug. 1998. (Pubitemid 128748645)
21. J. M. Hollerbach and K. C. Suh, "Redundancy resolution of manipulators through torque optimization," IEEE J. Robot., Autom., vol. 3 no. 4, pp. 308-316, Aug. 1987.
22. Z. Kemény, "Redundancy resolution in robots using parameterization through null space," IEEE Trans. Ind. Electron., vol. 50, no. 4, pp. 777-783, Aug. 2003.
23. 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., vol. 14, no. 3, pp. 658-667, May 2003.
24. Y.Zhang, S. S. Ge, and T. H. Lee, "A unified quadratic programming based dynamical system approach to joint torque optimization of physically constrained redundant manipulators," IEEE Trans. Syst., Man, Cybern. B, Cybern. vol. 34, no. 5, pp. 2126-2132, Oct. 2004.
25. S. Liu and J. Wang, "Obstacle avoidance for kinematically redundant manipulators using the deterministic annealing neural network," Lecture Notes Comput. Sci., vol. 3498, pp. 240-246, 2005. (Pubitemid 41315093)
26. X. Hu, J. Wang, and B. Zhang, "Motion planning with obstacle avoidance for kinematically redundant manipulators based on two recurrent neural networks," in Proc. IEEE Int. Conf. Syst., Man, Cybern., 2009, pp. 137-142.
27. K. Samsudin, F. A. Ahmad, and S. Mashohor, "A highly interpretable fuzzy rule base using ordinal structure for obstacle avoidance of mobile robot," Appl. Soft Comput., vol. 11, no. 2, pp. 1631-1637, 2011.
28. Y. Zhang and J. Wang, "Obstacle avoidance of redundant manipulators using a dual neural network," in Proc. IEEE Int. Conf. Robot. Autom., 2003, pp. 2747-2752.
29. Y. Zhang and J. Wang, "Obstacle avoidance for kinematically redundant manipulators using a dual neural network," IEEE Trans. Syst., Man, Cybern. B, Cybern., vol. 34, no. 1, pp. 752-759, Feb. 2004.
30. Y. Zhang, Z. Li, and H.-Z. Tan, "Inequality-based manipulator-obstacle avoidance using the LVI-based primal-dual neural network," inProc. IEEE Int. Conf. Robot. Biomimetics, 2006, pp. 1459-1464.
31. Y. Zhang, Z. Pan, K. Li, and D. Guo, "More illustrative investigation on window-shaped obstacle avoidance of robot manipulators using a simplified LVI-based primal-dual neural network," in Proc. IEEE Int. Conf. Mech. Autom., 2009, pp. 4240-4245.
32. Z. Y. Guo and T. C. Hsia, "Joint trajectory generation for redundant robots in an environment with obstacles," J. Robot. Syst., vol. 10, no. 2, pp. 199-215, 1993. (Pubitemid 23622766)
33. F.-T. Cheng, Y.-T. Lu, and Y.-Y. Sun, "Window-shaped obstacle avoidance for a redundant manipulator," IEEE Trans. Syst., Man, Cybern. B, Cybern. vol. 28, no. 6 pp. 806-815, Dec. 1998. (Pubitemid 128748032)
34. 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. IEEE Int. Conf. Robot. Autom., 1993, vol. 3, pp. 262-269.
35. W. Tang, L. Lam, and J. Wang, "Kinematic control and obstacle avoidance for redundant manipulators using a recurrent neural network," in Proc. Int. Conf. Artif. Neural Netw., 2001, pp. 922-929. (Pubitemid 33317060)
36. C. E. Smith, S. A. Brandt, and N. P. Papanikolopoulos, "Eye-in-hand robotic tasks in uncalibrated environments," IEEE Trans. Robot. Autom., vol. 13, no. 6, pp. 903-914, Dec. 1997. (Pubitemid 127770490)
37. I. Ohya, A. Kosaka, and A. Kak, "Vision-based navigation by a mobile robot with obstacle avoidance using single-camera vision and ultrasonic sensing," IEEE Trans. Robot. Autom., vol. 14, no. 6, pp. 969-978, Dec. 1998. (Pubitemid 128743575)
38. B. Cai and Y. Zhang, "Equivalence of velocity-level and acceleration-level redundancy-resolution of manipulators," Phys. Lett. A, vol. 373, no. 38, pp. 3450-3453, 2009.
39. Y. Zhang, Z. Li, H.-Z. Tan, and Z. Fan, "On the simplified LVI-based primal-dual neural network for solving LP and QP problems," in Proc. IEEE Int. Conf. Control Autom., 2007, pp. 3129-3134.
40. Y. Zhang, Z. Tan, K. Chen, Z. Yang, and X. Lv, "Repetitive motion of redundant robots planned by three kinds of recurrent neural networks and illustrated with a four-link planar manipulator's straight-line example," J. Robot. Auton. Syst., vol. 57, no. 6-7, pp. 645-651, 2009.
41. B. He, "A new method for a class of linear variational inequalities," Math. Program., vol. 66, no. 1-3, pp. 137-144, 1994.
42. C. Mead, Analog VLSI and Neural Systems. Reading, MA: Addison-Wesley, 1989.
43. B. He, "Solving a class of linear projection equations," Numer. Math., vol. 68, no. 1, pp. 71-80, 1994.