### Abstract

Due to hardware limitations, physical constraints, such as joint rate bounds and joint angle limits, always exist. In the present work, these constraints are included in the general formulation of the redundant inverse kinematic problem. To take into account these physical constraints, the computationally efficient compact QP (quadratic programming) method is derived to resolve the kinematic redundancy problem. In addition, the compact-inverse QP method is developed to remedy the unescapable singularity problem. The compact QP (compact and inverse QP) method makes use of the compact formulation to obtain the general solutions and to eliminate the equality constraints. As such, the variables are decomposed into basic and free variables, and the basic variables are expressed by the free variables. Thus, the problem size is reduced and it only requires an optimization algorithm, such as QP, for the free variables subject to pure inequality constraints. This approach will expedite the optimization process and make real-time implementation possible. Two examples are given to demonstrate the generality and superiority of these two methods.

Original language | English |
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Title of host publication | Proceedings - IEEE International Conference on Robotics and Automation |

Publisher | Publ by IEEE |

Pages | 508-513 |

Number of pages | 6 |

ISBN (Print) | 0818627204 |

Publication status | Published - 1992 Apr 1 |

Event | Proceedings 1992 IEEE International Conference on Robotics and Automation - Nice, Fr Duration: 1992 May 12 → 1992 May 14 |

### Publication series

Name | Proceedings - IEEE International Conference on Robotics and Automation |
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Volume | 1 |

### Other

Other | Proceedings 1992 IEEE International Conference on Robotics and Automation |
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City | Nice, Fr |

Period | 92-05-12 → 92-05-14 |

### Fingerprint

### All Science Journal Classification (ASJC) codes

- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering

### Cite this

*Proceedings - IEEE International Conference on Robotics and Automation*(pp. 508-513). (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 1). Publ by IEEE.

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*Proceedings - IEEE International Conference on Robotics and Automation.*Proceedings - IEEE International Conference on Robotics and Automation, vol. 1, Publ by IEEE, pp. 508-513, Proceedings 1992 IEEE International Conference on Robotics and Automation, Nice, Fr, 92-05-12.

**Efficient algorithm for resolving manipulator redundancy--The compact QP method.** / Cheng, Fan-Tien; Chen, Tsing Hua; Sun, York Yih.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Efficient algorithm for resolving manipulator redundancy--The compact QP method

AU - Cheng, Fan-Tien

AU - Chen, Tsing Hua

AU - Sun, York Yih

PY - 1992/4/1

Y1 - 1992/4/1

N2 - Due to hardware limitations, physical constraints, such as joint rate bounds and joint angle limits, always exist. In the present work, these constraints are included in the general formulation of the redundant inverse kinematic problem. To take into account these physical constraints, the computationally efficient compact QP (quadratic programming) method is derived to resolve the kinematic redundancy problem. In addition, the compact-inverse QP method is developed to remedy the unescapable singularity problem. The compact QP (compact and inverse QP) method makes use of the compact formulation to obtain the general solutions and to eliminate the equality constraints. As such, the variables are decomposed into basic and free variables, and the basic variables are expressed by the free variables. Thus, the problem size is reduced and it only requires an optimization algorithm, such as QP, for the free variables subject to pure inequality constraints. This approach will expedite the optimization process and make real-time implementation possible. Two examples are given to demonstrate the generality and superiority of these two methods.

AB - Due to hardware limitations, physical constraints, such as joint rate bounds and joint angle limits, always exist. In the present work, these constraints are included in the general formulation of the redundant inverse kinematic problem. To take into account these physical constraints, the computationally efficient compact QP (quadratic programming) method is derived to resolve the kinematic redundancy problem. In addition, the compact-inverse QP method is developed to remedy the unescapable singularity problem. The compact QP (compact and inverse QP) method makes use of the compact formulation to obtain the general solutions and to eliminate the equality constraints. As such, the variables are decomposed into basic and free variables, and the basic variables are expressed by the free variables. Thus, the problem size is reduced and it only requires an optimization algorithm, such as QP, for the free variables subject to pure inequality constraints. This approach will expedite the optimization process and make real-time implementation possible. Two examples are given to demonstrate the generality and superiority of these two methods.

UR - http://www.scopus.com/inward/record.url?scp=0026844048&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0026844048&partnerID=8YFLogxK

M3 - Conference contribution

SN - 0818627204

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 508

EP - 513

BT - Proceedings - IEEE International Conference on Robotics and Automation

PB - Publ by IEEE

ER -