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A Sparse Optimization-Based Control Method for Manipulator With Simultaneous Potential Energy Minimization

Zhan Li, Shuai Li Orcid Logo

IEEE Transactions on Circuits and Systems II: Express Briefs, Volume: 68, Issue: 6, Pages: 2062 - 2066

Swansea University Author: Shuai Li Orcid Logo

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DOI (Published version): 10.1109/tcsii.2020.3045427

Abstract

Manipulators may often endure large-scale potential energy variations during kinematic control, producing unsafe oscillations of posture-hold effects. In this brief, for the first time, a sparse-optimization-based control method is proposed to simultaneously guarantee task accuracy and reduce potent...

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Published in: IEEE Transactions on Circuits and Systems II: Express Briefs
ISSN: 1549-7747 1558-3791
Published: Institute of Electrical and Electronics Engineers (IEEE) 2021
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URI: https://cronfa.swan.ac.uk/Record/cronfa56011
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first_indexed 2021-01-11T12:33:24Z
last_indexed 2021-08-10T03:14:06Z
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spelling 2021-08-09T12:42:27.5765352 v2 56011 2021-01-11 A Sparse Optimization-Based Control Method for Manipulator With Simultaneous Potential Energy Minimization 42ff9eed09bcd109fbbe484a0f99a8a8 0000-0001-8316-5289 Shuai Li Shuai Li true false 2021-01-11 MECH Manipulators may often endure large-scale potential energy variations during kinematic control, producing unsafe oscillations of posture-hold effects. In this brief, for the first time, a sparse-optimization-based control method is proposed to simultaneously guarantee task accuracy and reduce potential energy variations for manipulators. The proposed control approach is formulated as an Lp-norm sparse optimization paradigm with the variation of the potential energy as the constraint. Simulation results on the n-link planar manipulator and experiment results on a 6-DoF manipulator system verify the proposed control method for accurate motion control tasks with potential energy minimization, with the average potential energy variations of the manipulators largely diminished with the sparse kinematic resolutions. Journal Article IEEE Transactions on Circuits and Systems II: Express Briefs 68 6 2062 2066 Institute of Electrical and Electronics Engineers (IEEE) 1549-7747 1558-3791 1 6 2021 2021-06-01 10.1109/tcsii.2020.3045427 COLLEGE NANME Mechanical Engineering COLLEGE CODE MECH Swansea University 2021-08-09T12:42:27.5765352 2021-01-11T12:24:01.9083368 Faculty of Science and Engineering School of Aerospace, Civil, Electrical, General and Mechanical Engineering - Mechanical Engineering Zhan Li 1 Shuai Li 0000-0001-8316-5289 2
title A Sparse Optimization-Based Control Method for Manipulator With Simultaneous Potential Energy Minimization
spellingShingle A Sparse Optimization-Based Control Method for Manipulator With Simultaneous Potential Energy Minimization
Shuai Li
title_short A Sparse Optimization-Based Control Method for Manipulator With Simultaneous Potential Energy Minimization
title_full A Sparse Optimization-Based Control Method for Manipulator With Simultaneous Potential Energy Minimization
title_fullStr A Sparse Optimization-Based Control Method for Manipulator With Simultaneous Potential Energy Minimization
title_full_unstemmed A Sparse Optimization-Based Control Method for Manipulator With Simultaneous Potential Energy Minimization
title_sort A Sparse Optimization-Based Control Method for Manipulator With Simultaneous Potential Energy Minimization
author_id_str_mv 42ff9eed09bcd109fbbe484a0f99a8a8
author_id_fullname_str_mv 42ff9eed09bcd109fbbe484a0f99a8a8_***_Shuai Li
author Shuai Li
author2 Zhan Li
Shuai Li
format Journal article
container_title IEEE Transactions on Circuits and Systems II: Express Briefs
container_volume 68
container_issue 6
container_start_page 2062
publishDate 2021
institution Swansea University
issn 1549-7747
1558-3791
doi_str_mv 10.1109/tcsii.2020.3045427
publisher Institute of Electrical and Electronics Engineers (IEEE)
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 Manipulators may often endure large-scale potential energy variations during kinematic control, producing unsafe oscillations of posture-hold effects. In this brief, for the first time, a sparse-optimization-based control method is proposed to simultaneously guarantee task accuracy and reduce potential energy variations for manipulators. The proposed control approach is formulated as an Lp-norm sparse optimization paradigm with the variation of the potential energy as the constraint. Simulation results on the n-link planar manipulator and experiment results on a 6-DoF manipulator system verify the proposed control method for accurate motion control tasks with potential energy minimization, with the average potential energy variations of the manipulators largely diminished with the sparse kinematic resolutions.
published_date 2021-06-01T04:10:37Z
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score 11.01628

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