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

Fan Tien Cheng, Tsing Hua Chen, York Yih Sun

研究成果: Conference contribution

18 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題Proceedings - IEEE International Conference on Robotics and Automation
發行者Publ by IEEE
頁面508-513
頁數6
ISBN(列印)0818627204
出版狀態Published - 1992 四月 1
事件Proceedings 1992 IEEE International Conference on Robotics and Automation - Nice, Fr
持續時間: 1992 五月 121992 五月 14

出版系列

名字Proceedings - IEEE International Conference on Robotics and Automation
1

Other

OtherProceedings 1992 IEEE International Conference on Robotics and Automation
城市Nice, Fr
期間92-05-1292-05-14

    指紋

All Science Journal Classification (ASJC) codes

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

引用此

Cheng, F. T., Chen, T. H., & Sun, Y. Y. (1992). Efficient algorithm for resolving manipulator redundancy--The compact QP method. 於 Proceedings - IEEE International Conference on Robotics and Automation (頁 508-513). (Proceedings - IEEE International Conference on Robotics and Automation; 卷 1). Publ by IEEE.