Variable joint-velocity limits of redundant robot manipulators handled by quadratic programming

IEEE/ASME Transactions on Mechatronics

Volumn 18, Issue 2, 2013, Pages 674-686

  Zhang, Zhijun ^a   Zhang, Yunong ^a  

^a SunYat senUniversit   (China)

Author keywords

Numerical quadratic program (QP) solver; Physical experimental verification; Push rod (PR) robot manipulator; Resolving redundancy; Variable joint velocity limits (VJVL)

Indexed keywords

EQUALITY CONSTRAINTS; EXPERIMENTAL VERIFICATION; NUMERICAL ALGORITHMS; NUMERICAL QUADRATIC-PROGRAM (QP) SOLVER; PHYSICAL REALIZABILITY; REDUNDANT ROBOT MANIPULATORS; ROBOT MANIPULATOR; VARIABLE JOINT-VELOCITY LIMITS (VJVL);

ALGORITHMS; FLEXIBLE MANIPULATORS; INDUSTRIAL MANIPULATORS; MODULAR ROBOTS; REDUNDANT MANIPULATORS; ROBOT APPLICATIONS;

VELOCITY;

EID: 84889101849     PISSN: 10834435     EISSN: None     Source Type: Journal    
DOI: 10.1109/TMECH.2011.2181977     Document Type: Article

References (46)

1. V. Sangwan and S. K. Agrawal, "Differentially flat design of bipeds ensuring limit cycles," IEEE/ASME Trans. Mechatronics, vol. 14, no. 6, pp. 647-657, Jun. 2009.
2. B. Kim, J. Li, and T. Tsao, "Two-parameter robust repetitive control with application to a novel dual-stage actuator for noncircular machining," IEEE/ASME Trans. Mechatronics, vol. 9, no. 4, pp. 644-652, Jun. 2009. (Pubitemid 40181618)
3. 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," Robot. Auton. Syst., vol. 57, no. 6-7, pp. 645-651, Jun. 2009.
4. Y. Zhang, D. Guo, B. Cai, and K. Chen, "Remedy scheme and theoretical analysis of joint-angled drift phenomenon for redundant robot manipulators," Robot. Comput. Integr. Manuf., vol. 27, no. 4, pp. 860-869, Aug. 2011.
5. Y. Zhang, H. Zhu, X. Lv, and K. Li, "Joint angle drift problem of PUMA560 robot arm solved by a simplified LVI-based primal-dual neural network," in Proc. IEEE Int. Conf. Ind. Technol., Chengdu, China, 2008, pp. 1-6.
6. S. F. M. Assal, K. Watanabe, and K. Izumi, "Neural network-based kinematic inversion of industrial redundant robots using cooperative fuzzy hint for the joint limits avoidance," IEEE/ASME Trans.Mechatronics, vol. 11, no. 5, pp. 593-603, Oct. 2006. (Pubitemid 44637597)
7. 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.
8. N. Koizumi, S. Warisawa, H. Hashizume, and M. Mitsuishi, "Continuous path controller for the remote ultrasound diagnostic system," IEEE/ASME Trans. Mechatronics, vol. 13, no. 2, pp. 206-218, Apr. 2008. (Pubitemid 351649906)
9. H. Cheng, Y. Yiu, and Z. Li, "Dynamics and control of redundantly actuated parallel manipulators," IEEE/ASME Trans. Mechatronics, vol. 8, no. 4, pp. 483-491, Dec. 2003.
10. M. K. Lee and K. W. Park, "Workspace and singularity analysis of a double parallel manipulator," IEEE/ASME Trans. Mechatronics, vol. 5, no. 4, pp. 367-375, Dec. 2000. (Pubitemid 32131552)
11. J. Angeles, G. Yang, and I. M. Chen, "Singularity analysis of threelegged, 6-DOF platform manipulators with URS legs," IEEE/ASME Trans. Mechatronics, vol. 8, no. 4, pp. 469-475, Dec. 2003.
12. U-X. Tan, W. T. Latt, C. Y. Shee, C. N. Riviere, and W. T. Ang, "Feedforward controller of ill-conditioned hysteresis using singularity-free Prandtl-Ishlinskii model," IEEE/ASME Trans. Mechatronics, vol. 14, no. 5, pp. 598-605, Oct. 2009.
13. A. A. G. Siqueira and M. H. Terra, "A fault-tolerant manipulator robot based onH2 ,H8, andmixedH2/H8 Markovian controls," IEEE/ASME Trans. Mechatronics, vol. 14, no. 2, pp. 257-263, Apr. 2009.
14. S. Ma, I.Kobayashi, S. Hirose, and K.Yokoshima, "Control of a multijoint manipulator 'Moray Arm'," IEEE/ASME Trans. Mechatronics, vol. 7, no. 3, pp. 304-317, Sep. 2002.
15. E. Zergeroglu, D. D. Dawson, I.W. Walker, and P. Setlur, "Nonlinear tracking control of kinematically redundant robot manipulators," IEEE/ASME Trans. Mechatronics, vol. 9, no. 1, pp. 129-132, Jun. 2004.
16. P. Liljeback, K. Y. Pettersen, O. Stavdahl, and J. T. Gravdahl, "Snake robot locomotion in environments with obstacles," IEEE/ASME Trans. Mechatronics, to be published.
17. A. M. Andruska and K. S. Peterson, "Control of a snake-like robot in an elastically deformable channel," IEEE/ASME Trans. Mechatronics, vol. 13, no. 2, pp. 219-227, Apr. 2008. (Pubitemid 351649907)
18. A. Peer and M. B. Buss, "A new admittance-type haptic interface for bimanual manipulations," IEEE/ASME Trans. Mechatronics, vol. 13, no. 4, pp. 416-428, Aug. 2008.
19. X. Zhu, G. Tao, B. Yao, and J. Cao, "Adaptive robust posture control of parallel manipulator driven by pneumatic muscles with redundancy," IEEE/ASME Trans.Mechatronics, vol. 13, no. 4, pp. 441-449, Aug. 2008.
20. F. Caccavale, P. Chiacchio, A. Marino, and L. Villani, "Six-DOF impedance control of dual-arm cooperative manipulators," IEEE/ASME Trans. Mechatronics, vol. 13, no. 5, pp. 576-586, Oct. 2008.
21. T. Takaki and T. Omata, "High-performance anthropomorphic robot hand with grasping-force-magnificationmechanism," IEEE/ASME Trans. Mechatronics, vol. 16, no. 3, pp. 583-591, Jun. 2011.
22. D. Tlalolini, C. Chevallereau, and Y. Aoustin, "Human-like walking: Optimal motion of a bipedal robot with toe-rotation motion," IEEE/ASME Trans. Mechatronics, vol. 16, no. 2, pp. 310-320, Apr. 2011.
23. C. S. Ukidve, J. E. McInroy, and F. Jafari, "Using redundancy to optimize manipulability of Stewart platforms," IEEE/ASME Trans. Mechatronics, vol. 13, no. 4, pp. 475-479, Aug. 2008.
24. J. Huang, T. Fukuda, and T. Matsuno, "Model-based intelligent fault detection and diagnosis for mating electric connectors in robotic wiring harness assembly systems," IEEE/ASME Trans. Mechatronics, vol. 13, no. 1, pp. 86-94, Feb. 2008. (Pubitemid 351392275)
25. 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, Cybern., vol. 34, no. 5, pp. 2126-2132, Oct. 2004.
26. Y. Zhang, "Inverse-free computation for infinity-norm torque minimization of robot manipulators," Mechatronics, vol. 16, no. 3-4, pp. 177-184, Apr./May 2006. (Pubitemid 43190237)
27. R. V. Patel, H. A. Talebi, J. Jayender, and F. Shadpey, "A robust position and force control strategy for 7-DOF redundant manipulators," IEEE/ASME Trans. Mechatronics, vol. 14, no. 5, pp. 575-589, Oct. 2009.
28. L. Wang, J. Wu, J. Wang, and Z. You, "An experimental study of a redundantly actuated parallel manipulator for a 5-DOF hybrid machine tool," IEEE/ASME Trans. Mechatronics, vol. 14, no. 1, pp. 72-81, Feb. 2009.
29. H. Xie and S. Regnier, "Development of a flexible robotic system for multiscale applications of micro/nanoscale manipulation and assembly," IEEE/ASME Trans. Mechatronics, vol. 16, no. 2, pp. 266-276, Apr. 2011.
30. Y. Zhang, X. Lv, Z. Li, Z. Yang, and K. Chen, "Repetitive motion planning of PA10 robot arm subject to joint physical limits and using LVI-based primal-dual neural network," Mechatronics, vol. 18, no. 9, pp. 475-485, Nov. 2008.
31. O. Bebek, M. J. Hwang, and M. C. Cavusoglu, "Design of a parallel robot for needle-based interventions on small animals," IEEE/ASME Trans. Mechatronics, to be published.
32. K. N. Groom, A.A.Maciejewski, andV. Balakrishnan, "Real-time failuretolerant control of kinematically redundant manipulators," IEEE Trans. Robot. Autom., vol. 15, no. 6, pp. 1109-1116, Dec. 1999. (Pubitemid 30558246)
33. M. Goel, A. A. Maciejewski, V. Balakrishnan, and R.W. Proctor, "Failure tolerant teleoperation of a kinematically redundant manipulator: An experimental study," IEEE Trans. Syst., Man, Cybern. B, Cybern., vol. 33, no. 6, pp. 758-765, Nov. 2003.
34. J. D. English and A. A. Maciejewski, "On the implementation of velocity control for kinematically redundant manipulators," IEEE Trans. Syst., Man, Cybern. A, Syst., Humans, vol. 30, no. 3, pp. 233-237, May 2000.
35. R. R. Ulrey, A. A. Maciejewski, and H. J. Siegel, "Parallel algorithms for singular value decomposition," in Proc. IEEE Int. Conf. Parallel Process. Symp., Cancun, Mexico, 2005, pp. 524-533.
36. C. C. Chou, F. L. Lian, and C. C. Wang, "Characterizing indoor environment for robot navigation using velocity space approach with region analysis and look-ahead verification," IEEE Trans. Instrum. Meas., vol. 60, no. 2, pp. 442-451, Feb. 2011.
37. M. Seder and I. Petrovic, "Dynamic window based approach to mobile robot motion control in the presence of moving obstacles," in Proc. IEEE Int. Conf. Robot. Automat., Rome, Italy, 2007, pp. 1986-1991. (Pubitemid 350140471)
38. F. Cheng, T. Chen, and Y. Sun, "Resolving manipulator redundancy under inequality constraints," IEEE Trans. Robot. Autom., vol. 10, no. 1, pp. 65-71, Feb. 1994.
39. B. He, "A new method for a class of linear variational inequalities," Math. Program., vol. 66, no. 1-3, pp. 137-144, Aug. 1994.
40. B. Cai and Y. Zhang, "Bi-criteria optimal control of redundant robot manipulators using LVI-based primal-dual neural network," Optim. Control Appl. Methods, vol. 31, no. 3, pp. 213-229, May/Jun. 2010.
41. Y. Zhang, X. Lv, Z. Yang, and Z. Li, "Repetitive motion planning of kinematically redundant manipulators using LVI-based primal-dual neural network," in Proc. IEEE Int. Conf. Mechatronics Autom., Harbin, China, 2007, pp. 3138-3143. (Pubitemid 350245149)
42. Y. Zhang, Y. Yang, N. Tan, and B. Cai, "Zhang neural network solving for time-varying full-rank matrix Moore-Penrose inverse," Computing, vol. 92, no. 2, pp. 97-121, Jun. 2011.
43. Y. Zhang, J. Yin, and B. Cai, "Infinity-norm acceleration minimization of robotic redundant manipulators using the LVI-based primal-dual neural network," Robot. Comput. Integr. Manuf., vol. 25, no. 2, pp. 358-365, Apr. 2009.
44. 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.
45. Y. Zhang and J. Wang, "Obstacle avoidance of kinematically redundant manipulators using a dual neural network," IEEE Trans. Syst., Man, Cybern. B, Cybern., vol. 34, no. 1, pp. 752-759, Feb. 2004.
46. Y. Xia and J. Wang, "A recurrent neural network for solving linear projection equations," Neural Netw., vol. 13, no. 3, pp. 337-350, Apr. 2000. (Pubitemid 30252010)