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A Multi-Level Simultaneous Minimization Scheme Applied to Jerk-Bounded Redundant Robot Manipulators

Dechao Chen, Shuai Li Orcid Logo, Weibing Li, Qing Wu

IEEE Transactions on Automation Science and Engineering, Pages: 1 - 12

Swansea University Author: Shuai Li Orcid Logo

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DOI (Published version): 10.1109/TASE.2019.2931810

Abstract

In this paper, a multi-level simultaneous minimization (MLSM) scheme is proposed and investigated to remedy the joint-angle drift (JAD) and non-zero final joint-velocity (NZFJV) phenomena as well as to prevent the occurrence of high joint variables of redundant robot manipulators. The proposed schem...

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Published in: IEEE Transactions on Automation Science and Engineering
ISSN: 1545-5955 1558-3783
Published: 2019
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URI: https://cronfa.swan.ac.uk/Record/cronfa51998
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first_indexed 2019-09-23T14:18:30Z
last_indexed 2019-10-10T14:22:07Z
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spelling 2019-10-10T11:56:01.3459558 v2 51998 2019-09-23 A Multi-Level Simultaneous Minimization Scheme Applied to Jerk-Bounded Redundant Robot Manipulators 42ff9eed09bcd109fbbe484a0f99a8a8 0000-0001-8316-5289 Shuai Li Shuai Li true false 2019-09-23 MECH In this paper, a multi-level simultaneous minimization (MLSM) scheme is proposed and investigated to remedy the joint-angle drift (JAD) and non-zero final joint-velocity (NZFJV) phenomena as well as to prevent the occurrence of high joint variables of redundant robot manipulators. The proposed scheme is novelly designed within multiple levels and finally resolved at the jerk level for a jerk-bounded robot motion, which is desirable for engineering applications. More importantly, the correctness of the proposed MLSM scheme is guaranteed by the corresponding theorems. Then, the MLSM scheme is formulated as a dynamical quadratic program (DQP) that is solved by a piecewise linear projection equation neural network (PLPENN). Furthermore, the path-tracking simulations based on a 6-degrees-of-freedom (DOF) robot manipulator substantiate the effectiveness and advantage of the MLSM scheme. Comparisons between the MLSM scheme and the minimum jerk norm (MJN) scheme illustrate that the proposed scheme is superior and more applicable. Finally, the additional validation on the KUKA robot in the virtual robot experimentation platform (V-REP) is provided for reproducible engineering applications by researchers and practitioners. Journal Article IEEE Transactions on Automation Science and Engineering 1 12 1545-5955 1558-3783 31 12 2019 2019-12-31 10.1109/TASE.2019.2931810 COLLEGE NANME Mechanical Engineering COLLEGE CODE MECH Swansea University 2019-10-10T11:56:01.3459558 2019-09-23T11:39:11.2493648 Faculty of Science and Engineering School of Aerospace, Civil, Electrical, General and Mechanical Engineering - Mechanical Engineering Dechao Chen 1 Shuai Li 0000-0001-8316-5289 2 Weibing Li 3 Qing Wu 4
title A Multi-Level Simultaneous Minimization Scheme Applied to Jerk-Bounded Redundant Robot Manipulators
spellingShingle A Multi-Level Simultaneous Minimization Scheme Applied to Jerk-Bounded Redundant Robot Manipulators
Shuai Li
title_short A Multi-Level Simultaneous Minimization Scheme Applied to Jerk-Bounded Redundant Robot Manipulators
title_full A Multi-Level Simultaneous Minimization Scheme Applied to Jerk-Bounded Redundant Robot Manipulators
title_fullStr A Multi-Level Simultaneous Minimization Scheme Applied to Jerk-Bounded Redundant Robot Manipulators
title_full_unstemmed A Multi-Level Simultaneous Minimization Scheme Applied to Jerk-Bounded Redundant Robot Manipulators
title_sort A Multi-Level Simultaneous Minimization Scheme Applied to Jerk-Bounded Redundant Robot Manipulators
author_id_str_mv 42ff9eed09bcd109fbbe484a0f99a8a8
author_id_fullname_str_mv 42ff9eed09bcd109fbbe484a0f99a8a8_***_Shuai Li
author Shuai Li
author2 Dechao Chen
Shuai Li
Weibing Li
Qing Wu
format Journal article
container_title IEEE Transactions on Automation Science and Engineering
container_start_page 1
publishDate 2019
institution Swansea University
issn 1545-5955
1558-3783
doi_str_mv 10.1109/TASE.2019.2931810
college_str Faculty of Science and Engineering
hierarchytype
hierarchy_top_id facultyofscienceandengineering
hierarchy_top_title Faculty of Science and Engineering
hierarchy_parent_id facultyofscienceandengineering
hierarchy_parent_title Faculty of Science and Engineering
department_str School of Aerospace, Civil, Electrical, General and Mechanical Engineering - Mechanical Engineering{{{_:::_}}}Faculty of Science and Engineering{{{_:::_}}}School of Aerospace, Civil, Electrical, General and Mechanical Engineering - Mechanical Engineering
document_store_str 0
active_str 0
description In this paper, a multi-level simultaneous minimization (MLSM) scheme is proposed and investigated to remedy the joint-angle drift (JAD) and non-zero final joint-velocity (NZFJV) phenomena as well as to prevent the occurrence of high joint variables of redundant robot manipulators. The proposed scheme is novelly designed within multiple levels and finally resolved at the jerk level for a jerk-bounded robot motion, which is desirable for engineering applications. More importantly, the correctness of the proposed MLSM scheme is guaranteed by the corresponding theorems. Then, the MLSM scheme is formulated as a dynamical quadratic program (DQP) that is solved by a piecewise linear projection equation neural network (PLPENN). Furthermore, the path-tracking simulations based on a 6-degrees-of-freedom (DOF) robot manipulator substantiate the effectiveness and advantage of the MLSM scheme. Comparisons between the MLSM scheme and the minimum jerk norm (MJN) scheme illustrate that the proposed scheme is superior and more applicable. Finally, the additional validation on the KUKA robot in the virtual robot experimentation platform (V-REP) is provided for reproducible engineering applications by researchers and practitioners.
published_date 2019-12-31T04:04:07Z
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score 11.01628

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