Neural-Dynamic Based Synchronous-Optimization Scheme of Dual Redundant Robot Manipulators

Abstract

In order to track complex-path tasks in three dimensional space without joint-drifts, a neural-dynamic based synchronous-optimization (NDSO) scheme of dual redundant robot manipulators is proposed and developed. To do so, an acceleration-level repetitive motion planning optimization criterion is derived by the neural-dynamic method twice. Position and velocity feedbacks are taken into account to decrease the errors. Considering the joint-angle, joint-velocity, and joint-acceleration limits, the redundancy resolution problem of the left and right arms are formulated as two quadratic programming problems subject to equality constraints and three bound constraints. The two quadratic programming schemes of the left and right arms are then integrated into a standard quadratic programming problem constrained by an equality constraint and a bound constraint. As a real-time solver, a linear variational inequalities-based primal-dual neural network (LVI-PDNN) is used to solve the quadratic programming problem. Finally, the simulation section contains experiments of the execution of three complex tasks including a couple task, the comparison with pseudo-inverse method and robustness verification. Simulation results verify the efficacy and accuracy of the proposed NDSO scheme.

Inverse Kinematics of Redundant Manipulators Formulated as Quadratic Programming Optimization Problem Solved Using Recurrent Neural Networks: A Review

“…e In ref. [148], simulations were conducted for the dual PA10 manipulators to track three different trajectories. The maximum position error among all trajectories was less than 8×10 −4 m. In this case, the QP problem has been solved using the standard LVI-PDNN (23).…”

“…f In ref. [148], considering the differentiation error and the implementation error, a perturbed LVI-PDNN has been proposed to solve the QP problem [compare with the standard LVI-PDNN indicated in (23)].…”

“…In ref. [148], a neural-dynamic-based synchronous optimization scheme of dual redundant manipulators has been proposed. An ARMP optimization criterion has been derived twice.…”

Refined Self-Motion Scheme With Zero Initial Velocities and Time-Varying Physical Limits via Zhang Neurodynamics Equivalency

“…Redundant robot manipulators refer to such kind of manipulators whose degrees of freedom (DoF) are more than the minimum number of DoF needed to perform specific end-effector tasks (Zhang et al, 2018 ; Liao et al, 2019 ; Zhou et al, 2019 ; Chen et al, 2020 ; Xiao et al, 2020 ; Zhao et al, 2020 ; Jin et al, 2021 ). Therefore, they have the capability to meet additional requirements, e.g., satisfying physical limits, avoiding obstacles, and avoiding singularity configurations.…”