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Four-Criterion-Optimization-Based Coordination Motion Control of Dual-Arm Robots

文献类型：期刊论文

作者Tong, Yuchuang1,2,3,4,5; Liu, Jinguo1,2; Zhang, Xin1,2; Ju, Zhaojie1,2,6
刊名IEEE TRANSACTIONS ON COGNITIVE AND DEVELOPMENTAL SYSTEMS
出版日期2023-06-01
卷号15期号:2页码:794-807
ISSN号2379-8920
关键词Coordination motion control dual-arm robot motion planning recurrent neural network (RNN) redundant manipulator
DOI10.1109/TCDS.2022.3182534
通讯作者Liu, Jinguo(liujinguo@sia.cn)
英文摘要In order to address the coordination constraints and physical constraints subjected to the dual-arm robot simultaneously, a novel four-criterion-optimization coordination motion (FCOCM) scheme is proposed, which combines four optimization criteria, namely, the repetitive motion planning (RMP), minimum velocity norm (MVN), maximize manipulability (MM), and infinity-norm velocity minimization (INVM). The scheme can remedy discontinuity in the INVM scheme, eliminate joint angular drift phenomenon, prevent the high joint angular velocity and MM, thereby improving the motion efficiency and ensuring safety and accuracy in the process of tasks. Besides, this scheme also considers real-time trajectory feedback, satisfies physical constraints, and ensures the joint angular velocity is zero at the end of tasks. Furthermore, the improved FCOCM scheme is solved by a novel power-exponent-type variable-parameter recurrent neural network (PET-VPNN) model proposed in this article. A novel Sinh-tunable type activation function which achieves better convergence performance is also proposed. Simulations and experiment are presented to verify the superiority of the proposed coordination motion control method. This research is of great significance for the coordination motion control of dual-arm robots in complex path planning tasks.
WOS关键词CRITERIA VELOCITY MINIMIZATION ; NEURAL-NETWORK ; SPACE ROBOT ; IMPEDANCE CONTROL ; MANIPULATORS ; OPTIMIZATION ; INEQUALITIES ; SYSTEMS
资助项目National Key Research and Development Program of China[2018YFB1304600] ; Natural Science Foundation of China[51775541] ; CAS Interdisciplinary Innovation Team[JCTD-2018-11] ; State Key Laboratory of Robotics Foundation[Y91Z0303] ; National Natural Science Foundation of China[62103407]
WOS研究方向Computer Science ; Robotics ; Neurosciences & Neurology
语种英语
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号WOS:001005746000042
资助机构National Key Research and Development Program of China ; Natural Science Foundation of China ; CAS Interdisciplinary Innovation Team ; State Key Laboratory of Robotics Foundation ; National Natural Science Foundation of China
源URL[http://ir.ia.ac.cn/handle/173211/53636]  
专题中科院工业视觉智能装备工程实验室
通讯作者Liu, Jinguo
作者单位1.Chinese Acad Sci, Inst Robot & Intelligent Mfg, Shenyang 110169, Peoples R China
2.Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang 110016, Peoples R China
3.Univ Chinese Acad Sci, Beijing 100049, Peoples R China
4.Chinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China
5.Chinese Acad Sci, Engn Lab Ind Vis & Intelligent Equipment Technol, Beijing 100190, Peoples R China
6.Univ Portsmouth, Sch Comp, Portsmouth PO1 3HE, England
推荐引用方式
GB/T 7714		 Tong, Yuchuang,Liu, Jinguo,Zhang, Xin,et al. Four-Criterion-Optimization-Based Coordination Motion Control of Dual-Arm Robots[J]. IEEE TRANSACTIONS ON COGNITIVE AND DEVELOPMENTAL SYSTEMS,2023,15(2):794-807.
APA Tong, Yuchuang,Liu, Jinguo,Zhang, Xin,&Ju, Zhaojie.(2023).Four-Criterion-Optimization-Based Coordination Motion Control of Dual-Arm Robots.IEEE TRANSACTIONS ON COGNITIVE AND DEVELOPMENTAL SYSTEMS,15(2),794-807.
MLA Tong, Yuchuang,et al."Four-Criterion-Optimization-Based Coordination Motion Control of Dual-Arm Robots".IEEE TRANSACTIONS ON COGNITIVE AND DEVELOPMENTAL SYSTEMS 15.2(2023):794-807.

入库方式： OAI收割

来源：自动化研究所

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