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Tri-Criteria Optimization Motion Planning at Acceleration-Level of Dual Redundant Manipulators

Published online by Cambridge University Press:  23 July 2019

Zhaoli Jia ,
Siyuan Chen ,
Zhijun Zhang Open the ORCID record for Zhijun Zhang [Opens in a new window] ,
Nan Zhong ,
Pengchao Zhang ,
Xilong Qu ,
Jinhua Xie  and
Fan Ouyang
Zhaoli Jia
Affiliation:
College of Engineering, South China Agricultural University, Guangzhou510642, China. E-mails: jiazhaoli0810@163.com, ouyangfan@scau.edu.cn Research and Development Center, Guang Dong Siwun Logistics Equipment Co., Ltd, Guangzhou510507, China
Siyuan Chen
Affiliation:
School of Automation Science and Engineering, South China University of Technology (SCUT), Guangzhou510641, China. E-mails: c.sy05@mail.scut.edu.cn, 915887584@qq.com
Zhijun Zhang*
Affiliation:
School of Automation Science and Engineering, South China University of Technology (SCUT), Guangzhou510641, China. E-mails: c.sy05@mail.scut.edu.cn, 915887584@qq.com
Nan Zhong*
Affiliation:
College of Engineering, South China Agricultural University, Guangzhou510642, China. E-mails: jiazhaoli0810@163.com, ouyangfan@scau.edu.cn
Pengchao Zhang
Affiliation:
Key Laboratory of Industrial Automation of Shaanxi Province, Shaanxi University of Technology, Hanzhong, Shaanxi723000, China. E-mail: snutzpc@126.com
Xilong Qu
Affiliation:
School of Information Technology and Management, Hunan University of Finance and Economics, Changsha, Hunan410205, China. E-mail: quxilong@126.com
Jinhua Xie
Affiliation:
School of Automation Science and Engineering, South China University of Technology (SCUT), Guangzhou510641, China. E-mails: c.sy05@mail.scut.edu.cn, 915887584@qq.com
Fan Ouyang
Affiliation:
College of Engineering, South China Agricultural University, Guangzhou510642, China. E-mails: jiazhaoli0810@163.com, ouyangfan@scau.edu.cn
*
*Corresponding author. E-mails: auzjzhang@scut.edu.cn, zhongnan@scau.edu.cn
*Corresponding author. E-mails: auzjzhang@scut.edu.cn, zhongnan@scau.edu.cn
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Summary

In order to solve joint-angle drift problem of dual redundant manipulators at acceleration-level, an acceleration-level tri-criteria optimization motion planning (ALTC-OMP) scheme is proposed, which combines the minimum acceleration norm, repetitive motion planning, and infinity-norm acceleration minimization solutions via weighting factor. This scheme can resolve the joint-angle drift problem of dual redundant manipulators which will arise in single criteria or bi-criteria scheme. In addition, the proposed scheme considers joint-velocity joint-acceleration physical limits. The proposed scheme can not only guarantee joint-velocity and joint-acceleration within their physical limits, but also ensure that final joint-velocity and joint-acceleration are near to zero. This scheme is realized by dual redundant manipulators which consist of left and right manipulators. In order to ensure the coordinated operation of manipulators, two motion planning problems are reformulated as two general quadratic program (QP) problems and further unified into one standard QP problem, which is solved by a simplified linear-variational-inequalities-based primal-dual neural network at the acceleration-level. Computer-simulation results based on dual PUMA560 redundant manipulators further demonstrate the effectiveness and feasibility of the proposed ALTC-OMP scheme to resolve joint-angle drift problem arising in the dual redundant manipulators.

Keywords

Joint-accelerationJoint-velocityDual redundant manipulatorsAcceleration-level tri-criteria optimization motion planning (ALTC-OMP)Quadratic programmingS-LVI-PDNN
Type
Articles
Information
Robotica , Volume 38 , Issue 6 , June 2020 , pp. 983 - 999
Copyright
© Cambridge University Press 2019

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