NDLI: Minimum jerk norm scheme applied to obstacle avoidance of redundant robot arm with jerk bounded and feedback control

Content Provider	IET Digital Library
Author	Chen, Dechao Zhang, Yunong
Abstract	In this study, a minimum jerk norm (MJN) scheme with an obstacle avoidance constraint is proposed and applied to a redundant robot arm, of which the joint jerks keep bounded for a human-friendly robot control. To achieve superior tracking performances of the redundant robot arm, the proposed jerk bounded MJN scheme is improved by the feedback control. More importantly, the effectiveness on obstacle avoidance of the proposed scheme is guaranteed by the variable-magnitude escape jerk theorem. Besides, for the purpose of implementation on the practical robot system, the corresponding discrete formulas with their theoretical analyses are presented. Then the proposed scheme is reformulated as a dynamical quadratic program which is solved by a piecewise-linear projection equation neural network. Furthermore, the path-tracking simulation and comparison substantiate the effectiveness and accuracy of such a scheme with the smooth and human-friendly joint variables applied to the obstacle avoidance of a six degrees of freedom jerk bounded robot arm. At last, the experimental application conducted on a practical redundant robot arm system further shows the physical realisability and the safety of the proposed scheme.
Starting Page	1896
Ending Page	1903
Page Count	8
ISSN	17518644
Volume Number	10
e-ISSN	17518652
Issue Number	Issue 15, Oct (2016)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/10/15
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2016.0220
Journal	IET Control Theory & Applications
Publisher Date	2016-06-15
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Collision Avoidance Discrete Formulas Dynamical Quadratic Program Feedback Feedback Control Human-friendly Robot Control Jerk Bounded Control Jerk Bounded MJN Scheme Jerk Bounded Robot Arm Joint Jerks Manipulators Minimum Jerk Norm Scheme Neural Computing Technique Neural Nets Obstacle Avoidance Constraint Path-tracking Simulation Piecewise Linear Projection Equation Neural Network Redundant Manipulators Redundant Robot Arm System Spatial Variables Control Variable Magnitude Escape Jerk Theorem
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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