Skip to main content Accessibility help
×
Home
Hostname: page-component-cf9d5c678-dksz7 Total loading time: 0.954 Render date: 2021-08-02T12:03:03.218Z Has data issue: true Feature Flags: { "shouldUseShareProductTool": true, "shouldUseHypothesis": true, "isUnsiloEnabled": true, "metricsAbstractViews": false, "figures": true, "newCiteModal": false, "newCitedByModal": true, "newEcommerce": true, "newUsageEvents": true }

Article contents

Pseudoinverse-type bi-criteria minimization scheme for redundancy resolution of robot manipulators

Published online by Cambridge University Press:  22 May 2014

Bolin Liao
Affiliation:
College of Information Science and Engineering, Jishou University, Jishou 416000, China
Weijun Liu
Affiliation:
School of Physics and Electronic Information, Gannan Normal University, Ganzhou 341000, China
Corresponding
E-mail address:

Summary

In this paper, a pseudoinverse-type bi-criteria minimization scheme is proposed and investigated for the redundancy resolution of robot manipulators at the joint-acceleration level. Such a bi-criteria minimization scheme combines the weighted minimum acceleration norm solution and the minimum velocity norm solution via a weighting factor. The resultant bi-criteria minimization scheme, formulated as the pseudoinverse-type solution, not only avoids the high joint-velocity and joint-acceleration phenomena but also causes the joint velocity to be near zero at the end of motion. Computer simulation results based on a 4-Degree-of-Freedom planar robot manipulator comprising revolute joints further verify the efficacy and flexibility of the proposed bi-criteria minimization scheme on robotic redundancy resolution.

Type
Articles
Information
Robotica , Volume 33 , Issue 10 , December 2015 , pp. 2100 - 2113
Copyright
Copyright © Cambridge University Press 2014 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1. Flash, T., Meirovitch, Y. and Barliya, A., “Models of human movement: Trajectory planning and inverse kinematics studies,” Robot. Auton. Syst. 61 (4), 330339 (2013).CrossRefGoogle Scholar
2. Azmy, E. W., “Exact solution of inverse kinematic problem of 6R serial manipulators using Clifford Algebra,” Robotica 31, 417422 (2013).CrossRefGoogle Scholar
3. Guigue, A., Ahmadi, M., Langlois, R. and Hayes, M. J. D., “Pareto optimality and multiobjective trajectory planning for a 7-DOF redundant manipulator,” IEEE Trans. Robot. 26 (6), 10941099 (2010).CrossRefGoogle Scholar
4. Groh, F., Groh, K. and Verl, A., “On the inverse kinematics of an a priori unknown general 6R-Robot,” Robotica 31, 455463 (2013).CrossRefGoogle Scholar
5. Galicki, M., “Path-constrained control of a redundant manipulator in a task space,” Robot. Auton. Syst. 54 (3), 234243 (2006).CrossRefGoogle Scholar
6. Kumara, S., Behera, L. and McGinnity, T. M., “Kinematic control of a redundant manipulator using an inverse-forward adaptive scheme with a KSOM-based hint generator,” Robot. Auton. Syst. 58 (5), 622633 (2010).CrossRefGoogle Scholar
7. O'Neil, K. A., “Divergence of linear acceleration-based redundancy resolution schemes,” IEEE Trans. Robot. Autom. 18 (4), 625631 (2002).CrossRefGoogle Scholar
8. Deo, A. S. and Walker, I. D., “Minimum effort inverse kinematics for redundant manipulators,” IEEE Trans. Robot. Autom. 15 (3), 767775 (1997).CrossRefGoogle Scholar
9. Granvagne, I. A. and Walker, I. D., “On the structure of minimum effort solutions with application to kinematic redundancy resolution,” IEEE Trans. Robot. Autom. 16 (6), 855863 (2000).CrossRefGoogle Scholar
10. Siciliano, B. and Khatib, O., Springer Handbook of Robotics (Springer-Verlag, Heidelberg, Germany, 2008).CrossRefGoogle Scholar
11. Siciliano, B., Sciavicco, L., Villani, L. and Oriolo, G., Robotics: Modelling, Planning and Control (Springer-Verlag, London, 2009).CrossRefGoogle Scholar
12. Gosselin, C. and Angeles, J., “Singularity analysis of closed-loop kinematic chains,” IEEE Trans. Rotot. Autom. 6 (3), 281290 (1990).CrossRefGoogle Scholar
13. Kemény, Z., “Redundancy resolution in robots using parameterization through null space,” IEEE Trans. Ind. Electron. 50 (4), 777783 (2003).CrossRefGoogle Scholar
14. Taghirad, H. D. and Bedoustani, Y. B., “An analytic-iterative redundancy resolution scheme for cable-driven redundant parallel manipulators,” IEEE Trans. Robot. 27 (6), 11371143 (2011).CrossRefGoogle Scholar
15. Patchaikani, P. K., Behera, L. and Prasad, G., “A single network adaptive critic-based redundancy resolution scheme for robot manipulators,” IEEE Trans. Ind. Electron. 59 (8), 32413253 (2012).CrossRefGoogle Scholar
16. Abe, A., “Trajectory planning for flexible Cartesian robot manipulator by using artificial neural network: Numerical simulation and experimental verification,” Robotica 29, 797804 (2011).CrossRefGoogle Scholar
17. Tchon, K., “Optimal extended Jacobian inverse kinematics algorithms for robotic manipulators,” IEEE Trans. Robot. 24 (6), 14401445 (2008).CrossRefGoogle Scholar
18. Marcos, M. G., Machado, J. A. T. and Azevedo-Perdicoúlis, T.-P., “A multi-objective approach for the motion planning of redundant manipulators,” Appl. Soft Comput. 12 (2), 589599 (2012).CrossRefGoogle Scholar
29
Cited by

Send article to Kindle

To send this article to your Kindle, first ensure no-reply@cambridge.org is added to your Approved Personal Document E-mail List under your Personal Document Settings on the Manage Your Content and Devices page of your Amazon account. Then enter the ‘name’ part of your Kindle email address below. Find out more about sending to your Kindle. Find out more about sending to your Kindle.

Note you can select to send to either the @free.kindle.com or @kindle.com variations. ‘@free.kindle.com’ emails are free but can only be sent to your device when it is connected to wi-fi. ‘@kindle.com’ emails can be delivered even when you are not connected to wi-fi, but note that service fees apply.

Find out more about the Kindle Personal Document Service.

Pseudoinverse-type bi-criteria minimization scheme for redundancy resolution of robot manipulators
Available formats
×

Send article to Dropbox

To send this article to your Dropbox account, please select one or more formats and confirm that you agree to abide by our usage policies. If this is the first time you use this feature, you will be asked to authorise Cambridge Core to connect with your <service> account. Find out more about sending content to Dropbox.

Pseudoinverse-type bi-criteria minimization scheme for redundancy resolution of robot manipulators
Available formats
×

Send article to Google Drive

To send this article to your Google Drive account, please select one or more formats and confirm that you agree to abide by our usage policies. If this is the first time you use this feature, you will be asked to authorise Cambridge Core to connect with your <service> account. Find out more about sending content to Google Drive.

Pseudoinverse-type bi-criteria minimization scheme for redundancy resolution of robot manipulators
Available formats
×
×

Reply to: Submit a response

Please enter your response.

Your details

Please enter a valid email address.

Conflicting interests

Do you have any conflicting interests? *