Tricriteria Optimization-Coordination Motion of Dual-Redundant-Robot Manipulators for Complex Path Planning

To remedy the discontinuity phenomenon existing in the infinity-norm velocity minimization (INVM) scheme, prevent the occurrence of high joint velocity, and decrease the joint-angle drift of redundant robot manipulators, a new type of tricriteria optimization-coordination-motion (TCOCM) scheme is proposed and investigated for dual-redundant-robot manipulators to track complex end-effector paths. Besides, the proposed scheme considers joint physical constraints (i.e., joint-angle limits and joint-velocity limits) and guarantees the joint velocity to approach zero at the end of tasks. Such a new-type TCOCM scheme combines the minimum velocity norm (MVN), repetitive motion planning (RMP), and INVM solutions via two weighting factor, and thus is termed MVN-RMP-INVM-TCOCM scheme. The proposed scheme consists of two subschemes, i.e., subscheme for the left robot manipulator and subscheme for the right robot manipulator. To control the dual arms simultaneously and collaboratively, two subschemes are reformulated as two general quadratic programming (QP) problems and further unified into one QP formulation. The unified QP problem is then solved by a simplified linear-variational-inequalities-based primal-dual neural network solver. Computer simulation results based on dual PUMA560 robot manipulators are illustrated to substantiate the advantage, efficacy, and applicability of the proposed MVN-RMP-INVM-TCOCM scheme to resolve the redundancy of dual-robot manipulators.