Feedback-Added Pseudoinverse-Type Balanced Minimization Scheme for Kinematic Control of Redundant Robot Manipulators

被引：8
作者：
Wang, Zhenhuan [1 ]
Wang, Boyang [2 ]
Xu, Lingjie [2 ]
Xie, Qinyu [2 ]
机构：
[1] Harbin Inst Technol, Space Control & Inertial Technol Res Ctr, Harbin 150001, Heilongjiang, Peoples R China
[2] Harbin Inst Technol, Dept Control Sci & Engn, Sch Astronaut, Harbin 150001, Heilongjiang, Peoples R China
来源：
IEEE ACCESS | 2019年 / 7卷
基金：
中国国家自然科学基金;
关键词：
Balanced minimization; pseudoinverse; feedback; kinematic control; redundant robot manipulators; JOINT CONSTRAINTS SATURATION; INVERSE KINEMATICS; TRACKING CONTROL; NEURAL-NETWORK; RESOLUTION; OPTIMIZATION;
D O I：
10.1109/ACCESS.2019.2899587
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a new feedback-added pseudoinverse-type balanced minimization (FPBM) scheme is proposed and studied for the kinematic control of redundant robot manipulators. Such a scheme is designed by combining the minimum acceleration norm (MAN) solution and the weighted minimum velocity norm (WMVN) solution and by introducing the feedback. With the MAN and WMVN combination, the proposed FPBM scheme can not only remedy the phenomena of high velocity and acceleration but also generate a near-zero velocity after task execution. With the feedback introduction, the proposed FPBM scheme can guarantee a nondivergent end-effector tracking error. Based on a four-link robot manipulator, the simulation results are presented to show the effectiveness of the proposed FPBM scheme.
引用
收藏
页码：23806 / 23815
页数：10
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