COORDINATED-MOTION CONTROL OF HEAVY-DUTY INDUSTRIAL MACHINES WITH REDUNDANCY

An implementation of a real-time scheme suitable for coordinated-motion control of a class of teleoperated industrial machines with redundancy is presented. An efficient gradient projection technique is adopted for the numerical solution. The scheme utilizes the redundancy to avoid the joint limits by minimizing a hyperbolic function of the joint distances from the mid-range. This new performance criterion is shown to be advantageous over similar criteria; both the joint-limit avoidance capability and the resulting joint velocity profiles can be adjusted by the appropriate choice of parameters introduced in the criterion. Previous criteria are shown to be special cases of the new criterion. Furthermore, the scheme includes a novel algorithm which incorporates the bounded joint velocities. The joint motions are determined considering both the required task in terms of the desired end-effector speed and the dynamic considerations, such as hydraulic circuit interdependency and power limitations. The feasibility and effectiveness of the implementation of the scheme is first tested through simulations of a Kaiser Spyder-like excavator machine on a PC-486 micro-computer. The robustness and real-time response of the scheme are then validated on a real-time excavator-based graphics simulator interfaced to a human operator through a joystick.