TY - GEN
T1 - Redundant manipulator control with constraints for subgoals
AU - Qiu, Changwu
AU - Cao, Qixin
AU - Sun, Yijun
PY - 2006
Y1 - 2006
N2 - This work analysed the general form of solution for Inverse Redundant Kinematics (IRK) problem in geometry view, and proposed new methods to formulate the obstacle and singularity avoidance as constraints, which were incorporated into standard non-linear Quadratic Programming (QP) method to resolve the IRK problem. With this method, the compromise or conflict between multi optimization criteria and the complicated weighted adjustment process in weighted sum method for IRK were removed. Obstacle avoidance and physical limits, such as joint range, velocity and acceleration, were formulated as dynamic inequality constraints. For on-line inescapable singularity avoidance, the vector, according to the minimum singular value of the Jacobian matrix, was used to revise the desired tracking velocity when manipulators move near to singularity. Numerical examples show the validity and effectiveness of the proposed methods.
AB - This work analysed the general form of solution for Inverse Redundant Kinematics (IRK) problem in geometry view, and proposed new methods to formulate the obstacle and singularity avoidance as constraints, which were incorporated into standard non-linear Quadratic Programming (QP) method to resolve the IRK problem. With this method, the compromise or conflict between multi optimization criteria and the complicated weighted adjustment process in weighted sum method for IRK were removed. Obstacle avoidance and physical limits, such as joint range, velocity and acceleration, were formulated as dynamic inequality constraints. For on-line inescapable singularity avoidance, the vector, according to the minimum singular value of the Jacobian matrix, was used to revise the desired tracking velocity when manipulators move near to singularity. Numerical examples show the validity and effectiveness of the proposed methods.
KW - Dynamic constraints
KW - Inverse redundant kinematics
KW - Obstacle avoidance
KW - On-line singularity avoidance
KW - Quadratic programming
UR - https://www.scopus.com/pages/publications/45149127093
U2 - 10.1109/COASE.2006.326882
DO - 10.1109/COASE.2006.326882
M3 - Conference contribution
AN - SCOPUS:45149127093
SN - 1424403103
SN - 9781424403103
T3 - 2006 IEEE International Conference on Automation Science and Engineering, CASE
SP - 212
EP - 217
BT - 2006 IEEE International Conference on Automation Science and Engineering, CASE
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2006 IEEE International Conference on Automation Science and Engineering, CASE
Y2 - 8 October 2006 through 10 October 2006
ER -