A Hybrid Multi-Objective Scheme Applied to Redundant Robot Manipulators

作者：Chen, Dechao^*; Zhang, Yunong

来源：IEEE Transactions on Automation Science and Engineering, 2017, 14(3): 1337-1350.

DOI：10.1109/TASE.2015.2474157

• Hybrid multi-objective scheme
• joint-physical limits avoidance
• obstacle avoidance
• redundant robot manipulators
• repetitive motion

In this paper, a hybrid multi-objective scheme is proposed to complete simultaneously four objectives, i.e., the specified primary task for the end-effector, obstacle avoidance, joint-physical limits avoidance, and repetitive motion of redundant robot manipulators. In addition, corresponding theoretical analysis is given, which guarantees the validity of the proposed scheme. Then, the proposed hybrid multi-objective scheme is reformulated as a dynamical quadratic program (DQP) problem. The optimal solution of the DQP problem is found by the PLPE (piecewise-linear projection equation) neural network, i.e., PLPENN, and also by the corresponding numerical algorithm implemented on the computer. Furthermore, simulation and comparison based on a six-link planar redundant robot manipulator substantiate the effectiveness and accuracy of the proposed scheme. At last, a hardware experiment is conducted on a six-link physical robot manipulator system, which substantiates the physical realizability, operational stability, and safety of the proposed hybrid multi-objective scheme.
Note to Practitioners-This paper is motivated by the multi-objective problem of redundant robot manipulators in practical applications. Note that redundant robot manipulators are usually required to handle the multiple objectives simultaneously in a complex environment. Thus, a physically realizable, operationally stable, and safe solution for such redundant robot manipulators is significant for practitioners. This paper proposes a hybrid multi-objective scheme to complete simultaneously multiple objectives of redundant robot manipulators. Besides, for the convenience of practitioners to develop in applications, the corresponding numerical algorithm with its block diagram given for the optimal solution of the proposed scheme is also presented. Computer simulation based on a six-link planar redundant robot manipulator shows that the four mentioned objectives are completed well. The proposed scheme is also applied to a six-link physical robot manipulator system to substantiate further its effectiveness.

• 出版日期2017-7
• 单位中山大学