A solution to robotic inverse-kinematic problem using bi-criteria weighted optimization

作者：Zhang Yu Nong^*; Fu Gang; Yin Jiang Ping

来源：Journal of Dalian Maritime University, 2007, 33(3): 1-5.

• Automatic control
• Linear variation inequalities (LVI)

To diminish discontinuity-points arising in the infinity-norm velocity-minimization scheme, a bic-riteria velocity-minimization scheme was developed. The kinematic-control scheme of redundant manipulators could incorporate joint physical limits, such as, joint limits and joint velocity limits simultaneously. Moreover, the method could be reformulated as a quadratic programming (QP) problem. As a real-time QP solver, a LVI-based primal-dual neural network was developed with a simple piecewise-linear structure and higher computational efficiency. Computer simulations performed based on PUMA560 manipulator illustrate the validity and advantages of the proposed neural control scheme for redundant robots.

• 出版日期2007
• 单位中山大学