Abstract
In this paper, an acceleration-level scheme is proposed for the self-motion planning (SMP) of redundant manipulators. Besides, the equivalence between the velocity-level and acceleration-level SMP schemes is discovered and proved by using Zhang et al.’s neural-dynamic method. Simply put, the equivalence exists when related parameters satisfy some conditions. For further verification, the two schemes are unified into one quadratic program (QP) formulation, which can be solved by the MATLAB routine “QUADPROG”. Computer simulations based on a five-link planar robot arm performing the self-motion demonstrate both the efficacy of the proposed acceleration-level SMP scheme and the equivalence of the two different-level SMP schemes.
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References
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© 2012 Springer-Verlag Berlin Heidelberg
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Zhang, Y., Wu, H., Zhang, Z., Fu, S., Yin, Y. (2012). Different-Level Schemes’ Equivalence for Self-Motion Planning of Robot Manipulators. In: Lei, J., Wang, F.L., Deng, H., Miao, D. (eds) Artificial Intelligence and Computational Intelligence. AICI 2012. Lecture Notes in Computer Science(), vol 7530. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33478-8_2
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DOI: https://doi.org/10.1007/978-3-642-33478-8_2
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-33477-1
Online ISBN: 978-3-642-33478-8
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