Clamping weighted least-norm method for the manipulator kinematic control with constraints
| Autor: | Shuihua Huang, Yonggang Peng, Ji Xiang, Wei Wei |
|---|---|
| Rok vydání: | 2016 |
| Předmět: |
0209 industrial biotechnology
Mathematical optimization Inverse kinematics 020208 electrical & electronic engineering 02 engineering and technology Kinematics Clamping Computer Science Applications 020901 industrial engineering & automation Control and Systems Engineering Robustness (computer science) Control theory Obstacle 0202 electrical engineering electronic engineering information engineering Mathematics |
| Zdroj: | International Journal of Control. 89:2240-2249 |
| ISSN: | 1366-5820 0020-7179 |
| DOI: | 10.1080/00207179.2016.1153151 |
| Popis: | One of the main challenges for kinematic control of manipulators is how to effectively address various constraints, such as obstacle avoidances. Most constraints can be converted into a virtual joint-limit problem by the general weighted least-norm method reported recently. However, a chattering of weighted factors might occur in the presence of disturbances. In this paper, in order to improve the robustness to disturbances, a clamping term forcing joints away from their limits is added to the solution of inverse kinematics, termed as the clamping weighted least-norm method. It is proved that the joint-limit constraint is always guaranteed. The proposed method is applicable to both non-redundant and redundant manipulators; the accuracy of main task is sacrificed only when there is confliction between main task and joint-limit constraint. Experiments on the seven-degree-of-freedom redundant manipulator illustrate the good performance for avoiding joint limits while tracking a given trajectory. |
| Databáze: | OpenAIRE |
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