The Application of ZFD Formula to Kinematic Control of Redundant Robot Manipulators with Guaranteed Motion Precision

被引：14
作者：
Li, Zexin [1 ]
Xu, Feng [1 ]
Feng, Qingshan [1 ]
Cai, Jianhuang [1 ]
Guo, Dongsheng [1 ]
机构：
[1] Huaqiao Univ, Coll Informat Sci & Engn, Xiamen 361021, Peoples R China
来源：
IEEE ACCESS | 2018年 / 6卷
基金：
中国国家自然科学基金;
关键词：
Zhang finite difference (ZED) formula; kinematic control; pseudoinverse; redundant robot manipulators; motion precision;
D O I：
10.1109/ACCESS.2018.2878462
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Zhang et al. recently design a special difference formula called the Zhang finite-difference (ZED) formula. This paper applies the ZED formula for the kinematic control of redundant robot manipulators, due to its good performance in approximating first-order derivatives. Specifically, the ZED formula is employed to discrete the pseudoinverse-based (P-based) kinematic control scheme; a new P-based kinematic control scheme with guaranteed motion precision is developed for redundant robot manipulators. Simulation results based on a five-link planar robot manipulator, which performs different end-effector paths, validate the effectiveness of the new scheme and indicate the application prospects of the ZED formula.
引用
收藏
页码：64777 / 64783
页数：7
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