NDLI: Unification and comparison on bi-criteria velocity, acceleration and torque minimization illustrated via three-link planar robot arm

Content Provider	IEEE Xplore Digital Library
Author	Yunong Zhang Dongsheng Guo Jun Li Kene Li
Copyright Year	2011
Description	Author affiliation: School of Information Science and Technology, Sun Yat-sen University, Guangzhou 510006, China (Yunong Zhang; Dongsheng Guo; Jun Li; Kene Li)
Abstract	In this paper, the latest result that the bi-criteria redundancy-resolution schemes at different levels (i.e., the joint-velocity, — acceleration and — torque levels) can be unified into a quadratic-programming (QP) problem formulation, is presented and summarized for redundant robot arms with joint physical limits. In addition, comparison on the three schemes is presented for further investigation. The presented QP-based formulation, subject to equality, inequality and bound constraints simultaneously, is then solved online via a primal-dual neural network based on linear variation inequalities (LVI). Computer-simulation results based on PUMA560, PA10 and multi-link planar robot arms (specially, a three-link planar robot arm in this paper) have demonstrated the efficacy of the bi-criteria neural-weighting schemes, as well as the resultant QP-based unification of robots' redundancy resolution.
Starting Page	3410
Ending Page	3415
File Size	366574
Page Count	6
File Format	PDF
ISBN	9781424487370
e-ISBN	9781424487387
DOI	10.1109/CCDC.2011.5968705
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-23
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Bi-criteria Acceleration level Redundancy Torque level Quadratic program Manipulators Minimization Educational institutions Redundancy resolution Acceleration Velocity level Joints
Content Type	Text
Resource Type	Article

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