Bi-criteria Velocity Minimization of Robot Manipulators Using a Linear Variational Inequalities-Based Primal-Dual Neural Network and PUMA560 Example

作者：Zhang, Yunong^*; Cai, Binghuang; Zhang, Lei; Li, Kene

来源：Advanced Robotics, 2008, 22(13-14): 1479-1496.

DOI：10.1163/156855308X360578

• Bi-criteria velocity minimization
• quadratic programming
• linear variational inequalities-based primal-dual neural network
• PUMA560 robot manipulator

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

• 出版日期2008
• 单位中山大学