物理约束冗余度机器人离散运动控制新方案的设计与验证

IF 2.6 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control Pub Date : 2025-09-24 DOI:10.1016/j.ejcon.2025.101398

Zuoli Ye, Shukang Chen, Naimeng Cang, Xiyuan Zhang, Dongsheng Guo, Weidong Zhang

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引用次数: 0

摘要

运动控制是具有关节物理约束的冗余机器人机械臂的基本问题之一。针对具有物理约束的冗余度机器人，提出了一种新的离散时间形式的运动控制方案。在考虑关节极限的情况下，将冗余机器人机械手的运动控制表述为由运动方程和不等式组成的线性系统。然后，通过设计求解该系统的神经动力学模型，利用欧拉差分规则，建立了新的离散时间运动控制方案。基于路径跟踪、重复运动和避障示例的UR5和PA10机器人约束下的仿真结果进一步验证了所提DTKC方案的有效性。最后，通过在实际的E6机器人机械手上实施所提出的方案，表明了DTKC的适用性。

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Design and validation of new discrete-time kinematic control scheme for physically-constrained redundant robot manipulators

Kinematic control is one of the fundamental issues of redundant robot manipulators with joint physical constraints. In this paper, a new kinematic control scheme with discrete-time form is proposed for physically-constrained redundant robot manipulators. Specifically, with joint limits considered, the kinematic control of redundant robot manipulators is formulated as a linear system consisting of kinematic equation and inequality. Then, by designing a neural-dynamics model to solve such a system and by utilizing the Euler difference rule, the new discrete-time kinematic control (DTKC) scheme is thus established. Simulation results under the constrained UR5 and PA10 robot manipulators with path tracking, repetitive motion, and obstacle avoidance examples further validate the effectiveness of the proposed DTKC scheme. The DTKC applicability is finally indicated by implementing the proposed scheme on the practical E6 robot manipulator.

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来源期刊

European Journal of Control 工程技术-自动化与控制系统

CiteScore

5.80

自引率

5.90%

发文量

131

审稿时长

1 months

期刊介绍： The European Control Association (EUCA) has among its objectives to promote the development of the discipline. Apart from the European Control Conferences, the European Journal of Control is the Association''s main channel for the dissemination of important contributions in the field. The aim of the Journal is to publish high quality papers on the theory and practice of control and systems engineering. The scope of the Journal will be wide and cover all aspects of the discipline including methodologies, techniques and applications. Research in control and systems engineering is necessary to develop new concepts and tools which enhance our understanding and improve our ability to design and implement high performance control systems. Submitted papers should stress the practical motivations and relevance of their results. The design and implementation of a successful control system requires the use of a range of techniques: Modelling Robustness Analysis Identification Optimization Control Law Design Numerical analysis Fault Detection, and so on.