Abstract
On the basis of weighted combination of the minimum velocity norm (MVN) scheme and the minimum acceleration norm (MAN) scheme, a pseudoinverse-based optimization scheme for motion control of redundant robot manipulators is proposed and investigated. Such an optimization scheme can achieve the minimization of joint-velocity norm and jointaccelerationnorm at the same time. Besides, the proposed optimization scheme can not only avoid the high joint-velocity and joint-acceleration phenomena, but also make the joint velocity of the robot manipulator to be near zero at the end of motion. Comparative computer-simulation results further verify the effectiveness and the feasibility of the proposed optimal control scheme.
| Original language | English |
|---|---|
| Pages (from-to) | 645-651+656 |
| Journal | Information and Control |
| Volume | 42 |
| Issue number | 5 |
| DOIs | |
| State | Published - Oct 2013 |
| Externally published | Yes |
Keywords
- Motion control
- Optimization
- Pseudoinverse
- Redundant robot manipulator
- Weighted combination
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