Acceleration-Level Multi-Criteria Optimization for Remedying Joint-Angle Drift of Redundant Manipulators on Complex Path Tracking

IEEE Access

卷:7

Fan Ouyang¹  Zhaoli Jia¹  Nan Zhong¹  Pengchao Zhang²  Siyuan Chen³  Xilong Qu⁴ 

[1] College of Engineering, South China Agricultural University, Guangzhou, China;

[2] Key Laboratory of Industrial Automation of Shaanxi Province, Shaanxi University of Technology, Hanzhong, China;

[3] School of Automation Science and Engineering, South China University of Technology, Guangzhou, China;

[4] School of Information Technology and Management, Hunan University of Finance and Economics, Changsha, China;

关键词: Multi-criteria optimization motion planning;    joint-angle drift;    acceleration-level;    redundant manipulators;    physical constraints;    physical experiment;   

DOI  :  10.1109/ACCESS.2019.2926703

来源: DOAJ

【 摘 要 】

In this paper, to remedy the joint-angle drift problem of redundant manipulators at the acceleration level, a multi-criteria optimization motion planning (MCOMP) scheme is proposed and investigated for redundant manipulators. In addition, the proposed scheme considers physical constraints and guarantees values of the joint-velocity and joint-acceleration to approach zero at the end of the path-tracking task. The proposed scheme is reformed into one standard quadratic program problem, which is then solved by the simplified linear variational inequalities-based primal-dual neural network (S-LVI-PDNN). Furthermore, three tracking path computer simulations (i.e., “Nut line” pattern, “Peach” pattern, and Chinese character “tu” pattern) are illustrated, which verify the validity and advantage of the proposed scheme. Finally, the physical experiment based on the JACO² manipulator further verifies the practicability of the proposed scheme for solving the joint-angle drift of redundant manipulators.

【 授权许可】

Unknown