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A dual-mode online optimization method for trajectory tracking of redundant manipulators

Jian Fang (Department of Precision Machinery & Precision Instrumentation, University of Science and Technology of China, Hefei, China AND Institute of Advanced Manufacturing Technology, Hefei Institute of Physical science, Chinese academy of sciences, Changzhou, China)
Tao Mei (Department of Automation, University of Science and Technology of China, Hefei, China)
Jianghai Zhao (Institute of Advanced Manufacturing Technology, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Changzhou, China)
Tao Li (Institute of Advanced Manufacturing Technology, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Changzhou, China)

Industrial Robot

ISSN: 0143-991x

Article publication date: 21 March 2016

423

Abstract

Purpose

The purpose of this paper is to present a dual-mode online optimization method (OOM) for trajectory tracking of the redundant manipulators. This method could be used to resolve the problem of the kinematics redundancy effectively when the manipulator moves in a limited space or its movements go through a singular point.

Design/methodology/approach

In the proposed method, the physical limits of the manipulator in the torque level is considered as inequality constraints for the optimal scheme. Besides, a dual-mode optimal scheme is developed to yield a feasible input in each control period during the path tracking task of the manipulator, especially when it moves under the limited space or around the singular point. Then, the scheme is formulated as a quadratic programming; the computationally efficient quadratic programming solver based on interior method is formulated to solve the kinematic redundancy problem.

Findings

The traditional pseudo inverse method (PIM) for the kinematic resolution to the redundant manipulator has some limitations, such as slow computation speed, unable to take joint physical limits into consideration, etc. Relatively, the OOM could be used to conquer the deficits of the PIM method. Combining with the dual-mode optimal scheme and considering the physical constraints in the torque level, the online method proposed in this paper is more robust and efficient than the existing method.

Originality/value

In this paper, dual-mode OOM is first proposed for the resolution of the kinematics redundancy problem. Specific design of its model and the discussion of its performance are also presented in this paper.

Keywords

Acknowledgements

This research has been supported by the Natural Science Foundation of Jiangsu province (Number. BK2012587), the project of Science and Technology Support Plan of Jiansu province (Number BE2013003) and the project of National Nature Science Foundation of China (Number 51405469).

Citation

Fang, J., Mei, T., Zhao, J. and Li, T. (2016), "A dual-mode online optimization method for trajectory tracking of redundant manipulators", Industrial Robot, Vol. 43 No. 2, pp. 241-252. https://doi.org/10.1108/IR-07-2015-0135

Publisher

:

Emerald Group Publishing Limited

Copyright © 2016, Emerald Group Publishing Limited

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