A Real-time Control Method for Optimal Overall Performances of Planar Redundant Robots

被引：0
|
作者：
Rong Y. [1 ,2 ]
Dou T. [3 ]
Zhang X. [1 ]
Zhang L. [3 ]
Zhao J. [3 ]
机构：
[1] School of Vehicle and Energy, Yanshan University, Hebei, Qinhuangdao
[2] Hebei Key Laboratory of Special Delivery Equipment, Yanshan University, Hebei, Qinhuangdao
[3] College of Mechanical and Electrical Engineering, Hebei Normal University of Science and Technology, Hebei, Qinhuangdao
来源：
Zhongguo Jixie Gongcheng/China Mechanical Engineering | 2022年 / 33卷 / 16期
关键词：
drive centralization; multi-objective optimization; real-time control; redundant robot;
D O I：
10.3969/j.issn.1004-132X.2022.16.006
中图分类号：
学科分类号：
摘要：
The concept of redundant robot structure design with centralized driving layout was proposed. In the inverse kinematics of robot, a prespecified space dimensionality reduction method was proposed based on weighted M-P pseudo-inverse, and the weighted matrix was analyzed numerically. The swing amplitudes of each joint angles were changed by changing the values of the elements on the diagonal of the weighted matrix and then changing the instantaneous velocity. The dynamics analysis of a planar 4R redundant robot was carried out, and the total energy, total torque and total time were taken as the optimization objectives. The particle swarm optimization method was used to optimize the three objectives simultaneously, and the motion end time was optimally obtained when the total performances of the redundant robot were reached. The experimental results show that the proposed method is feasible. © 2022 China Mechanical Engineering Magazine Office. All rights reserved.
引用
收藏
页码：1928 / 1939
页数：11
相关论文
共 34 条
  • [1] DAI Qian, Research on Trajectory Planning and Motion Control Method of Planar Redundant Robot System, (2016)
  • [2] Zonggao MOU, Research on Trajectory Planning and Control of Super-redundant Robot for Narrow Space Operation, (2017)
  • [3] JEONG U, IN H K, CHO K J., Implementation of Various Control Algorithms for Hand Rehabilitation Exercise Using Wearable Robotic Hand[J], Intelligent Service Robotics, 6, 4, pp. 181-189, (2013)
  • [4] IN H, LEE H, JEONG U, Et al., Feasibility Study of a Slack Enabling Actuator for Actuating Tendon-driven Soft Wearable Robot without Pretension[C]?, IEEE International Conference on Robotics and Automation, pp. 1229-1234, (2015)
  • [5] DONG Hui, DU Zhijiang, Inverse Kinematics of Planar Redundant Manipulators Based on Workspace Density Function[J], Journal of Mechanical Engineering, 51, 17, pp. 8-14, (2015)
  • [6] CRENGANIS M, BREAZ R, RACZ G, Et al., Inverse Kinematics of a 7 DOF Manipulator Using Adaptive Neuro-fuzzy Inference Systems[C]?, 12th International Conference on Control Automation Robotics & Vision, pp. 1232-1237, (2012)
  • [7] HUANG H C, CHEN C P, WANG P R., Particle Swarm Optimization for Solving the Inverse Kinematics of 7-DOF Robotic Manipulators[C]?, IEEE International Conference on Systems, Man, and Cybernetics, pp. 3105-3110, (2012)
  • [8] YANG Junjuan, WANG Xiulian, CUI Long, Et al., Inverse Kinematics of Redundant Manipulator Used in Tele-operation[C]?, IEEE International Conference on Information and Automation, pp. 1690-1695, (2015)
  • [9] JIANG Li, HUO Xijian, LIU Yiwei, Et al., An Integrated Inverse Kinematic Approach for the 7-DOF Humanoid Arm with Offset Wrist[C]?, IEEE International Conference on Robotics and Biomimetics, pp. 2737-2742, (2013)
  • [10] Di ZU, WU Zhenwei, TAN Dalong, Effecient Inverse Kinematic Solution for Redundant Manipulators[J], Chinese Journal of Mechanical Engineering, 41, 6, pp. 71-75, (2005)
1234