Bi-criteria velocity minimization of robot manipulators using LVI-based primal-dual neural network and illustrated via PUMA560 robot arm

作者：Zhang, Yunong^*; Li, Kene

来源：Robotica, 2010, 28(04): 525-537.

DOI：10.1017/S0263574709005839

• Redundant manipulators
• Minimum infinity-norm scheme
• Bi-criteria inverse kinematics
• Quadratic programming
• Neural networks

In this paper, to diminish discontinuity points arising in the infinity-norm velocity minimization scheme, a hi-criteria velocity minimization scheme is presented based on a new neural network solver, i.e., an LVI-based primal-dual neural network. Such a kinematic planning scheme of redundant manipulators can incorporate joint physical limits, such as, joint limits and joint velocity limits simultaneously. Moreover, the presented kinematic planning scheme can be reformulated as a quadratic programming (QP) problem. As a real-time QP solver, the LVI-based primal-dual neural network is developed with a simple piecewise linear structure and high computational efficiency. Computer simulations performed based on a PUMA560 manipulator model are presented to illustrate the validity and advantages of such a bi-criteria velocity minimization neural planning scheme for redundant robot arms.

• 出版日期2010-7
• 单位中山大学