Pseudoinverse-type bi-criteria minimization scheme for redundancy resolution of robot manipulators
Authors:
- 22 May 2014
- journal article
- research article
- Published by Cambridge University Press (CUP) in Robotica
- Vol. 33 (10) , 2100-2113
Abstract
SUMMARY: In this paper, a pseudoinverse-type bi-criteria minimization scheme is proposed and investigated for the redundancy resolution of robot manipulators at the joint-acceleration level. Such a bi-criteria minimization scheme combines the weighted minimum acceleration norm solution and the minimum velocity norm solution via a weighting factor. The resultant bi-criteria minimization scheme, formulated as the pseudoinverse-type solution, not only avoids the high joint-velocity and joint-acceleration phenomena but also causes the joint velocity to be near zero at the end of motion. Computer simulation results based on a 4-Degree-of-Freedom planar robot manipulator comprising revolute joints further verify the efficacy and flexibility of the proposed bi-criteria minimization scheme on robotic redundancy resolution.Keywords
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