{"title":"基于二次规划的机器人机械臂最小冗余解","authors":"Kene Li, Yunong Zhang","doi":"10.1109/ICAL.2011.6024694","DOIUrl":null,"url":null,"abstract":"This paper presents the latest result that the minimum-effort redundancy resolution of robot manipulators with joint physical limits is unified into a quadratic-programming (QP) problem formulation with different coefficient matrices and vectors defined for different schemes. Such a general QP formulation is subject to equality, inequality and bound constraints, simultaneously. Motivated by the realtime solution to such robotic inverse-kinematics problems, the standard QP optimization routines and primal-dual neural network based on linear variational inequalities (due to its simple piecewise-linear dynamics and higher computational efficiency) are investigated in this paper. The QP-based unification of robots' redundancy resolution is substantiated by a number of computer-simulations of PUMA560, PA10, and planar arms.","PeriodicalId":351518,"journal":{"name":"2011 IEEE International Conference on Automation and Logistics (ICAL)","volume":"47-48 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2011-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Minimum-effort redundancy resolution of robot manipulators unified by quadratic programming\",\"authors\":\"Kene Li, Yunong Zhang\",\"doi\":\"10.1109/ICAL.2011.6024694\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents the latest result that the minimum-effort redundancy resolution of robot manipulators with joint physical limits is unified into a quadratic-programming (QP) problem formulation with different coefficient matrices and vectors defined for different schemes. Such a general QP formulation is subject to equality, inequality and bound constraints, simultaneously. Motivated by the realtime solution to such robotic inverse-kinematics problems, the standard QP optimization routines and primal-dual neural network based on linear variational inequalities (due to its simple piecewise-linear dynamics and higher computational efficiency) are investigated in this paper. The QP-based unification of robots' redundancy resolution is substantiated by a number of computer-simulations of PUMA560, PA10, and planar arms.\",\"PeriodicalId\":351518,\"journal\":{\"name\":\"2011 IEEE International Conference on Automation and Logistics (ICAL)\",\"volume\":\"47-48 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2011-09-23\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2011 IEEE International Conference on Automation and Logistics (ICAL)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICAL.2011.6024694\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2011 IEEE International Conference on Automation and Logistics (ICAL)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICAL.2011.6024694","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Minimum-effort redundancy resolution of robot manipulators unified by quadratic programming
This paper presents the latest result that the minimum-effort redundancy resolution of robot manipulators with joint physical limits is unified into a quadratic-programming (QP) problem formulation with different coefficient matrices and vectors defined for different schemes. Such a general QP formulation is subject to equality, inequality and bound constraints, simultaneously. Motivated by the realtime solution to such robotic inverse-kinematics problems, the standard QP optimization routines and primal-dual neural network based on linear variational inequalities (due to its simple piecewise-linear dynamics and higher computational efficiency) are investigated in this paper. The QP-based unification of robots' redundancy resolution is substantiated by a number of computer-simulations of PUMA560, PA10, and planar arms.