TY - GEN
T1 - Comparisons among Six Numerical Methods for Solving Repetitive Motion Planning of Redundant Robot Manipulators
AU - Zhang, Zhijun
AU - Kong, Lingdong
AU - Yan, Ziyi
AU - Chen, Ke
AU - Li, Shuai
AU - Qu, Xilong
AU - Tan, Ning
PY - 2018/7/2
Y1 - 2018/7/2
N2 - To ensure that each joint of redundant robot manipulators can return to its initial state when completes a closed-path tracking task, a repetitive motion planning (RMP) scheme is presented. On the basis of a quadratic programming (QP) framework, this RMP can be equivalently converted into a linear-variational-inequality (LVI) problem, and then into a piecewise linear projection equation (PLPE). In this paper, three novel numerical methods (i.e., M3, M5 and M6) and three traditional numerical methods (i.e., 94LVI, E47 and M4) are exploited, analyzed, and compared to solve PLPE, as well as RMP. The convergence of M5 method is theoretically proved, and that of M3 and M6 methods is analyzed by simulations. Moreover, comparative simulations of two complex path tracking tasks performed on a PUMA560 robot manipulator further verify the feasibility and effectiveness of the proposed numerical methods.
AB - To ensure that each joint of redundant robot manipulators can return to its initial state when completes a closed-path tracking task, a repetitive motion planning (RMP) scheme is presented. On the basis of a quadratic programming (QP) framework, this RMP can be equivalently converted into a linear-variational-inequality (LVI) problem, and then into a piecewise linear projection equation (PLPE). In this paper, three novel numerical methods (i.e., M3, M5 and M6) and three traditional numerical methods (i.e., 94LVI, E47 and M4) are exploited, analyzed, and compared to solve PLPE, as well as RMP. The convergence of M5 method is theoretically proved, and that of M3 and M6 methods is analyzed by simulations. Moreover, comparative simulations of two complex path tracking tasks performed on a PUMA560 robot manipulator further verify the feasibility and effectiveness of the proposed numerical methods.
KW - Complex path tracking
KW - Motion planning
KW - Quadratic programming
KW - Robot kinematics
UR - http://www.scopus.com/inward/record.url?scp=85064130199&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2018.8665072
DO - 10.1109/ROBIO.2018.8665072
M3 - Conference article published in proceeding or book
AN - SCOPUS:85064130199
T3 - 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
SP - 1645
EP - 1652
BT - 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
Y2 - 12 December 2018 through 15 December 2018
ER -