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Bi-criteria minimization with MWVN–INAM type for motion planning and control of redundant robot manipulators

Published online by Cambridge University Press:  11 January 2018

Dongsheng Guo*
College of Information Science and Engineering, Huaqiao University, Xiamen 361021, China
Kene Li
School of Electrical and Information Engineering, Guangxi University of Science and Technology, Liuzhou 545006, China. E-mail:
Bolin Liao
College of Information Science and Engineering, Jishou University, Jishou 416000, China. E-mail:
*Corresponding author. E-mails:,


This study proposes and investigates a new type of bi-criteria minimization (BCM) for the motion planning and control of redundant robot manipulators to address the discontinuity problem in the infinity-norm acceleration minimization (INAM) scheme and to guarantee the final joint velocity of motion to be approximate to zero. This new type is based on the combination of minimum weighted velocity norm (MWVN) and INAM criteria, and thus is called the MWVN–INAM–BCM scheme. In formulating such a scheme, joint-angle, joint-velocity, and joint-acceleration limits are incorporated. The proposed MWVN–INAM–BCM scheme is reformulated as a quadratic programming problem solved at the joint-acceleration level. Simulation results based on the PUMA560 robot manipulator validate the efficacy and applicability of the proposed MWVN–INAM–BCM scheme in robotic redundancy resolution. In addition, the physical realizability of the proposed scheme is verified in practical application based on a six-link planar robot manipulator.

Copyright © Cambridge University Press 2018 

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