Torque limit constrained control of redundant manipulator based on GWLN method

被引：0
|
作者：
Chen P. [1 ]
Xiang J. [1 ]
Wei W. [1 ]
机构：
[1] College of Electrical Engineering, Zhejiang University, Hangzhou
来源：
Zhejiang Daxue Xuebao (Gongxue Ban)/Journal of Zhejiang University (Engineering Science) | 2017年 / 51卷 / 01期
关键词：
Driver output saturation; General weighted least norm method; Redundant manipulator control; Torque limit constraint;
D O I：
10.3785/j.issn.1008-973X.2017.01.008
中图分类号：
学科分类号：
摘要：
A general weighted least norm (GWLN) based algorithm was proposed to solve the torque limit constraint for a redundant manipulator. An auxiliary variable was introduced to consider the Coriolis force and the gravity's effect in order to eliminate the assumptions made by other algorithms in existence that the manipulator is running slow. The torque command for the planned joint acceleration was kept in the actuators' output ranges by optimizing the extended variable's weighted norm during inverse kinematic solution. The validity of the algorithm was demonstrated by a mathematical proof. A simulation of PUMA 560 manipulator in the MATLAB ROBOTIC TOOLBOX shows that the manipulator controlled by the GWLN based method can comply with the joint torque constraint and accomplish the manipulation task. Comparison with the results generated by the null space torque optimization method and the existing weighted norm method shows that the GWLN based method is more effective and stable. © 2017, Zhejiang University Press. All right reserved.
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页码：68 / 74and105
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