TY - GEN
T1 - Command Generation of a High Degree of Freedom Robot Manipulator on a Moving Platform
AU - Lin, Yu Chen
AU - Peng, Chao Chung
N1 - Funding Information:
ACKNOWLEDGMENT The work was supported by the Ministry of Science and Technology, Taiwan, under the grant No. MOST 107-2221-E-006-114-MY3 and MOST 108-2923-E-006-005-MY3.
Publisher Copyright:
© 2019 IEEE.
PY - 2019/11
Y1 - 2019/11
N2 - For general robot arm applications, the base of the manipulator is equipped on a fixed platform. However, the demand for high mobility robot control is increasing dramatically especially for intelligent factory automation. The robotics are usually equipped on certain moving platforms such as multi-axis motion stages or autonomous ground vehicles. Therefore, controlling of the end-effector (EE) position on a moving platform will be challenging. To realize such the high mobility control applications, it usually involves complicated kinematics computations. To deal with this issue, an innovative method is proposed to provide a general solution of joint space command generation. The EE position control is formulated as an optimization problem and an iterative algorithm is present for finding the local optimal solution. For a given target point and a pose of the moving platform, the sub-optimal joint angle command positions are generated. Comparing with the traditional method, such as inverse kinematics, the proposed algorithm avoids complex kinematics derivation. Finally, the developed method is further extended to higher degree of freedom (HDOF) robot manipulators to verify the feasibility for robot control on a moving platform.
AB - For general robot arm applications, the base of the manipulator is equipped on a fixed platform. However, the demand for high mobility robot control is increasing dramatically especially for intelligent factory automation. The robotics are usually equipped on certain moving platforms such as multi-axis motion stages or autonomous ground vehicles. Therefore, controlling of the end-effector (EE) position on a moving platform will be challenging. To realize such the high mobility control applications, it usually involves complicated kinematics computations. To deal with this issue, an innovative method is proposed to provide a general solution of joint space command generation. The EE position control is formulated as an optimization problem and an iterative algorithm is present for finding the local optimal solution. For a given target point and a pose of the moving platform, the sub-optimal joint angle command positions are generated. Comparing with the traditional method, such as inverse kinematics, the proposed algorithm avoids complex kinematics derivation. Finally, the developed method is further extended to higher degree of freedom (HDOF) robot manipulators to verify the feasibility for robot control on a moving platform.
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U2 - 10.1109/CIS-RAM47153.2019.9095787
DO - 10.1109/CIS-RAM47153.2019.9095787
M3 - Conference contribution
AN - SCOPUS:85085867207
T3 - Proceedings of the IEEE 2019 9th International Conference on Cybernetics and Intelligent Systems and Robotics, Automation and Mechatronics, CIS and RAM 2019
SP - 512
EP - 517
BT - Proceedings of the IEEE 2019 9th International Conference on Cybernetics and Intelligent Systems and Robotics, Automation and Mechatronics, CIS and RAM 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 9th IEEE International Conference on Cybernetics and Intelligent Systems and Robotics, Automation and Mechatronics, CIS and RAM 2019
Y2 - 18 November 2019 through 20 November 2019
ER -