TY - JOUR
T1 - The Improved Compact QP Method For Resolving Manipulator Redundancy
AU - Cheng, Fan Tien
AU - Sheu, Rong Jing
AU - Chen, Tsing Hua
N1 - Funding Information:
Manuscript received August 1, 1993; revised December 10, 1994. This work was supported by the National Science Council, Republic of China, under Contracts NSC-82-0422-E-006-047 and NSC-84-2212-E-006-042. The authors are with the Department of Electrical Engineering, National Cheng Kung University, Tainan 70101, Taiwan, ROC. IEEE Log Number 9414033.
PY - 1995/11
Y1 - 1995/11
N2 - The Compact QP method is an effective and efficient algorithm for resolving the manipulator redundancy under inequality constraints. In this paper, a more computationally efficient scheme which will improve the efficiency of the Compact QP method—the Improved Compact QP method—is developed. With the technique of work space decomposition, the Redundant Inverse Kinematics problem can be decomposed into two subproblems. Thus, the size of the redundancy problem can be reduced. For an n degree-of-freedom spatial redundant manipulator, instead of a 6 × n matrix, only a 3 × (n − 3) matrix is needed to be manipulated by Gaussian elimination with partial pivoting for selecting the free variables. The simulation results on the CESAR manipulator indicate that the speedup of the Compact QP method as compared with the Original QP method is about 4.3. Furthermore, the speedup of the Improved Compact QP method is about 5.6. Therefore, it is believed that the Improved Compact QP method is one of the most efficient and effective optimization algorithm for resolving the manipulator redundancy under inequality constraints.
AB - The Compact QP method is an effective and efficient algorithm for resolving the manipulator redundancy under inequality constraints. In this paper, a more computationally efficient scheme which will improve the efficiency of the Compact QP method—the Improved Compact QP method—is developed. With the technique of work space decomposition, the Redundant Inverse Kinematics problem can be decomposed into two subproblems. Thus, the size of the redundancy problem can be reduced. For an n degree-of-freedom spatial redundant manipulator, instead of a 6 × n matrix, only a 3 × (n − 3) matrix is needed to be manipulated by Gaussian elimination with partial pivoting for selecting the free variables. The simulation results on the CESAR manipulator indicate that the speedup of the Compact QP method as compared with the Original QP method is about 4.3. Furthermore, the speedup of the Improved Compact QP method is about 5.6. Therefore, it is believed that the Improved Compact QP method is one of the most efficient and effective optimization algorithm for resolving the manipulator redundancy under inequality constraints.
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U2 - 10.1109/21.467718
DO - 10.1109/21.467718
M3 - Article
AN - SCOPUS:0029405076
SN - 0018-9472
VL - 25
SP - 1521
EP - 1530
JO - IEEE Transactions on Systems, Man, and Cybernetics
JF - IEEE Transactions on Systems, Man, and Cybernetics
IS - 11
ER -