Acceleration-Level Inequality-Based MAN Scheme for Obstacle Avoidance of Redundant Robot Manipulators
- 13 June 2014
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Industrial Electronics
- Vol. 61 (12), 6903-6914
- https://doi.org/10.1109/tie.2014.2331036
Abstract
In this paper, a new inequality-based criterion is proposed and investigated for obstacle avoidance of redundant robot manipulators at the joint-acceleration level. By incorporating such a dynamically updated inequality criterion and the joint physical constraints (i.e., joint-angle limits, joint-velocity limits, and joint-acceleration limits), a novel minimum-acceleration-norm (MAN) scheme is presented and investigated for robots' redundancy resolution. In addition, the resultant obstacle-avoidance MAN scheme resolved at the joint-acceleration level is reformulated as a general quadratic program (QP). Moreover, two important “Bridge” theorems are established, which show that such a QP problem can be equivalent to linear variational inequality (LVI) and then to piecewise-linear projection equation (PLPE). An LVI-based numerical method is thus developed and applied for online solution of the QP problem and the inequality-based obstacle-avoidance MAN scheme. Simulative results based on the PA10 robot manipulator in the presence of window-shaped and point obstacles further demonstrate the efficacy and superiority of the proposed acceleration-level inequality-based MAN scheme for obstacle avoidance of redundant robot manipulators. In addition, experimental verification conducted on a practical six-link planar robot manipulator substantiates the effectiveness and physical realizability of the proposed obstacle-avoidance scheme.Keywords
Funding Information
- 973 Program
- 2012 Scholarship Award for Excellent Doctoral Student granted by the Ministry of Education of China (3191004)
- Engineering Research Center of Supercomputing Engineering Software (Sun Yat-sen University), Ministry of Education, China
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