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New P-type RMPC Scheme for Redundant Robot Manipulators in Noisy Environment

Published online by Cambridge University Press:  26 June 2019

Zexin Li
Affiliation:
College of Information Science and Engineering, Huaqiao University, Xiamen, China
Feng Xu
Affiliation:
College of Information Science and Engineering, Huaqiao University, Xiamen, China
Dongsheng Guo
Affiliation:
College of Information Science and Engineering, Huaqiao University, Xiamen, China
Pingjiang Wang
Affiliation:
Quanzhou Huazhong University of Science and Technology Institute of Manufacturing, Quanzhou, China
Bo Yuan
Affiliation:
Quanzhou Huazhong University of Science and Technology Institute of Manufacturing, Quanzhou, China
Corresponding

Summary

Repetitive motion planning and control (RMPC) is a significant issue in the research of redundant robot manipulators. Moreover, noise from rounding error, truncation error, and robot uncertainty is an important factor that greatly affects RMPC schemes. In this study, the RMPC of redundant robot manipulators in a noisy environment is investigated. By incorporating the proportional and integral information of the desired path, a new RMPC scheme with pseudoinverse-type (P-type) formulation is proposed. Such a P-type RMPC scheme possesses the suppression of constant and bounded time-varying noises. Comparative simulation results based on a five-link robot manipulator and a PUMA560 robot manipulator are presented to further validate the effectiveness and superiority of the proposed P-type RMPC scheme over the previous one.

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Copyright
Copyright © Cambridge University Press 2019

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New P-type RMPC Scheme for Redundant Robot Manipulators in Noisy Environment
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