Minimum-energy redundancy resolution of robot manipulators unified by quadratic programming and its online solution
文献类型：会议论文
| 作者 | Zhang, Yunong; Ma SG(马书根)
|
| 出版日期 | 2007 |
| 会议名称 | IEEE International Conference on Mechatronics and Automation |
| 会议日期 | August 5-8, 2007 |
| 会议地点 | Harbin, China |
| 关键词 | redundant manipulators joint physical limits obstacle avoidance quadratic programming PUMA560 robot |
| 页码 | 3232-3237 |
| 中文摘要 | This paper presents the latest result regarding the unification of minimum-energy redundancy resolution of robot manipulators via a quadratic program. The presented quadratic programming (QP) formulation is general in the sense that it incorporates equality, inequality and bound constraints, simultaneously. This QP formulation covers the online avoidance of joint physical limits and environmental obstacles, as well as the optimization of various performance indices. Every term is endowed with clear physical meaning and utility. Motivated by the real-time solution to such robotic problems, four QP online solvers are briefly reviewed. That is, standard QP optimization routines, compact QP method, dual neural network as a QP solver, and state-of-the-art LVI-based primal-dual neural network as a QP solver. The QP-based unification of robots' redundancy resolution is substantiated by a large number of computer simulation results based on PUMA560, PA10, and planar robot arms. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 2 |
| 会议主办者 | IEEE Robot & Automat Soc, Harbin Engn Univ, Kagawa Univ, Natl Nat Sci Fdn China, Minist Educ China, Chinese Assoc Automat, Chinese Assoc Artificial Intelligence, Robot Soc Japan, Japan Soc Mech Engineers, Japan Soc Precis Engn, Univ Electro Commun, Univ Elect Sci & Technol China, Changchun Univ Sci & Technol, Beijing Univ Technol, IEEE, Hong Kong Sect, Joint RACS Chapter |
| 会议录 | 2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-0827-6 |
| WOS记录号 | WOS:000251178104013 |
| 源URL | [http://ir.sia.cn/handle/173321/8775]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Zhang, Yunong,Ma SG. Minimum-energy redundancy resolution of robot manipulators unified by quadratic programming and its online solution[C]. 见:IEEE International Conference on Mechatronics and Automation. Harbin, China. August 5-8, 2007. |
入库方式： OAI收割
来源：沈阳自动化研究所
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