Kinematic control of redundant robots and the motion optimizability measure

Li, Luya; Gruver, W.A.; Zhang, Qixian; Yang, Zongxu

doi:10.1109/3477.907575

Cited by 36 publications

(6 citation statements)

References 20 publications

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“…Besides being transferred into kinetic energy, the actuating torques are partly consumed to produce internal forces. The internal forces will be counteractive to each other and do not contribute to the motion of the OMR; the portion of the actuating torques corresponding to the internal forces still consumes energy in the actuators and is transformed to different kinds of losses expressed in (27). The total energy consumption as well as energy loss are presented in Table 2.…”

Section: Simulation Examples and Results Analysismentioning

confidence: 99%

“…Energies 2019, 12, x FOR PEER REVIEW 12 of 21 The gradient projection method is an efficient and widely-employed optimization method in the control of redundant robots [26,27]. It fully utilizes the null space of the Jacobian matrix to optimize varieties of performance criteria, such as manipulability, obstacle avoidance, and joint limit avoidance.…”

Section: Gradient Projection-based Torque Optimizationmentioning

confidence: 99%

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Energy-Efficient Torque Distribution Optimization for an Omnidirectional Mobile Robot with Powered Caster Wheels

et al. 2019

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A mobile robot with no less than two powered caster wheels (PCWs) has the ability to perform omnidirectional motions and belongs to a redundantly actuated system. Redundant actuation will bring the issue of non-uniqueness of actuating torque distribution, and inappropriate choices of torque distribution schemes will lead to unexpected large required actuating torques and extra energy consumption. This paper proposes a new torque distribution optimization approach based on a gradient projection method (GPM) for the omnidirectional mobile robot (OMR) with direct drive PCWs. It can significantly reduce the maximal required actuating torque and the energy consumption of the system. The modular kinematic and dynamic modeling method is presented first, which is suitable for an arbitrary number of employed PCWs, as well as their install positions in the chassis. The detailed energy consumption model of the OMR, including output energy consumption and electrical energy loss, is formulated through experimental testing. The effectiveness of the proposed algorithms is validated by simulation examples. Lastly, the computational efficiency of the method is verified. components: the sensor system, control system, and motion system. It is clarified by experiments that the motion system part consumes the overwhelming majority of energy, with up to more than 90%. Xu et al. [11] present an energy consumption modelling method for an industry robot. Their method does not have to measure the relevant parameters inside the robot and mainly concerns torque modelling. A parameter estimation method is proposed for the torque modelling. Verstraten et al. [12] study several modeling methods that are commonly adopted. They investigate how well these methods can be used to describe the energy consumption of a DC motor while performing dynamic tasks. The conclusion resulted from their work provides guidelines in determining which factors should be included in the energy consumption model. In this paper, we aim to study the impacts of different torque distribution schemes on the energy consumption of the OMR with PCWs. Hence, we focus on formulating the energy consumption model based on the actuation torques. Besides theoretical energy consumption modelling, the accurate experimental measurement of energy consumption is necessary for the evaluation of energy consumption of a system combined with hardware and software. Laopoulos et al.[13] present a current measurement method that monitors the instantaneous supply current. The method can provide high-performance evaluation of energy consumption, especially for low-power applications. Roennau et al. [14] propose an energy consumption estimation based on an on-board current measurement for each joint individually and employ a non-linear function to fit the measurement. There are two different motors integrated in a single PCW, which are responsible for rolling and steering motions, respectively. The energy consumption modelling methods for the two motors are unified; detailed specifications of t...

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Section: Simulation Examples and Results Analysismentioning

confidence: 99%

Section: Gradient Projection-based Torque Optimizationmentioning

confidence: 99%

Energy-Efficient Torque Distribution Optimization for an Omnidirectional Mobile Robot with Powered Caster Wheels

et al. 2019

View full text Add to dashboard Cite

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“…where κ∈ R is a real scalar (Li et al, 2001), ς = rank( J ), and superscript T denotes the transpose operator. In addition, ∇ H (θ) is the gradient of a performance criterion H (θ) (being a scalar function of the joint-angle vector θ∈ R n ), and V Ni is the i th column vector of

V_{N} \in R^{n \times (n - ς)}

with V N = [ V ς+1 V ς+2 ⋯ V n ].…”

Section: Design Formula and Scheme Formulationmentioning

confidence: 99%

A New Noise-Tolerant Obstacle Avoidance Scheme for Motion Planning of Redundant Robot Manipulators

Guo

Yan

et al. 2018

Front. Neurorobot.

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Avoiding obstacle(s) is a challenging issue in the research of redundant robot manipulators. In addition, noise from truncation, rounding, and model uncertainty is an important factor that affects greatly the obstacle avoidance scheme. In this paper, based on the neural dynamics design formula, a new scheme with the pseudoinverse-type formulation is proposed for obstacle avoidance of redundant robot manipulators in a noisy environment. Such a scheme has the capability of suppressing constant and bounded time-varying noises, and it is thus termed as the noise-tolerant obstacle avoidance (NTOA) scheme in this paper. Theoretical results are also given to show the excellent property of the proposed NTOA scheme (particularly in noise situation). Based on a PA10 robot manipulator with point and window-shaped obstacles, computer simulation results are presented to further substantiate the efficacy and superiority of the proposed NTOA scheme for motion planning of redundant robot manipulators.

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“…Another way is an improved coefficient matrix [12] to calculate the coefficients of criteria by the magnitudes of the least-norm solution and the homogeneous solution of GPM. Moreover, a motion optimization measure [13] is designed to adjust self-motion coefficients in real time of multiple performance criteria for optimizing redundant robot trajectories using GPM. Additionally, to satisfy joint position limits as a performance criterion effectively, an extended vision of GPM [6] is proposed that refers to the principles of WLN and GPM.…”

Section: Introductionmentioning

confidence: 99%

A Weighted Gradient Projection Method for Inverse Kinematics of Redundant Manipulators Considering Multiple Performance Criteria

2018

SV-JME

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Among the many methods of solving inverse kinematics (IK) of redundant manipulators, the classic weighted least-norm (WLN) method is often introduced to avoid joint position limits effectively but cannot be extended to restrict other constraints. Another general technique uses the fashioned gradient projection method (GPM) that ensures successes of the main task and the constraints-based subtasks but suffers with regard to the proper selections for the coefficients of performance criteria. Inspired by the merits of WLN and GPM, a weighted gradient projection method (WGPM) is proposed in this paper to resolve IK problems of redundant manipulators with multiple performance criteria. In this approach, its structure is formulated as a hierarchical task-level regulation, where the highest priority is to accomplish the main task higher than the avoidance of joint position limits, and the priorities of other subtasks of the performance criteria are dependent on the clamping weighted matrix in descending order. Moreover, to avoid the defect of selecting scalar factors for different criteria by trial and error in GPM, a technique of determining proper scalar coefficients is presented by means of normalizing corresponding performance functions in WGPM. Using a 7 degree-of-freedom (DOF) redundant manipulator, simulations and experiments are conducted to demonstrate the validity of the proposed WGPM method by comparing it with the results of the traditional WLN and GPM methods, respectively. Highlights• Multiple performance criteria are taken into account in resolving IK problems of redundant manipulators. • The hierarchical method can guarantee implementations of the main task and the subtasks. • A scalar coefficient of performance criterion is adjusted on-line by the normalization method. • The obtained results prove the effectiveness of the proposed WGPM method.

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Kinematic control of redundant robots and the motion optimizability measure

Cited by 36 publications

References 20 publications

Energy-Efficient Torque Distribution Optimization for an Omnidirectional Mobile Robot with Powered Caster Wheels

Energy-Efficient Torque Distribution Optimization for an Omnidirectional Mobile Robot with Powered Caster Wheels

A New Noise-Tolerant Obstacle Avoidance Scheme for Motion Planning of Redundant Robot Manipulators

A Weighted Gradient Projection Method for Inverse Kinematics of Redundant Manipulators Considering Multiple Performance Criteria

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