A new discrete-time repetitive motion planning scheme based on pseudoinverse formulation for redundant robot manipulators with joint constrains

IF 4.3 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Robotics and Autonomous Systems Pub Date : 2024-03-26 DOI:10.1016/j.robot.2024.104689

Naimeng Cang , Dongsheng Guo , Weidong Zhang , Limin Shen , Weibing Li

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Abstract

Recently, a repetitive motion planning (RMP) scheme with guaranteed precision has been developed for redundant robot manipulators. However, the RMP scheme does not consider joint constrains. As a result, such a scheme may not perform effectively when the joint configuration exceeds its physical limit. In this paper, we provide a further study by proposing a new discrete-time RMP (DTRMP) scheme based on the pseudoinverse formulation for redundant robot manipulators with joint constrains. Specifically, by using the direct derivation and by introducing the feedback, the handling of joint physical limit is formulated as an implicit dynamic equation. Then, the combined kinematic equation of the constrained redundant robot manipulators is obtained, and the resultant continuous-time RMP (CTRMP) scheme with the pseudoinverse-based formulation is established. By utilizing a numerical difference rule to discretize the CTRMP scheme, the new DTRMP scheme is thus developed for redundant robot manipulators with joint constrains. Theoretical analysis and computer simulations under a constrained five-link robot manipulator validate the effectiveness and superiority of the proposed DTRMP scheme. The experiment results of implementing the proposed scheme on the constrained practical Panda robot manipulator further indicate the scheme applicability and feasibility.

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基于伪逆运算的新型离散时重复运动规划方案，适用于带关节约束的冗余机器人机械手

最近，针对冗余机器人机械手开发了一种可保证精度的重复运动规划（RMP）方案。然而，RMP 方案并未考虑关节约束。因此，当关节配置超过其物理极限时，这种方案可能无法有效执行。在本文中，我们针对有关节约束的冗余机器人机械手，提出了一种基于伪反演公式的新型离散时间 RMP（DTRMP）方案，从而对该方案进行了进一步研究。具体来说，通过直接推导和引入反馈，关节物理限制的处理被表述为一个隐式动态方程。然后，得到受约束冗余机器人机械手的组合运动学方程，并建立了基于伪逆公式的连续时间 RMP（CTRMP）方案。通过利用数值差分规则对 CTRMP 方案进行离散化，从而为具有关节约束的冗余机器人机械手开发了新的 DTRMP 方案。理论分析和计算机仿真验证了所提出的 DTRMP 方案的有效性和优越性。在受约束的实用熊猫机器人操纵器上实施所提方案的实验结果进一步表明了该方案的适用性和可行性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Robotics and Autonomous Systems 工程技术-机器人学

CiteScore

9.00

自引率

7.00%

发文量

164

审稿时长

4.5 months

期刊介绍： Robotics and Autonomous Systems will carry articles describing fundamental developments in the field of robotics, with special emphasis on autonomous systems. An important goal of this journal is to extend the state of the art in both symbolic and sensory based robot control and learning in the context of autonomous systems. Robotics and Autonomous Systems will carry articles on the theoretical, computational and experimental aspects of autonomous systems, or modules of such systems.