Improved compact QP method for resolving manipulator redundancy

Fan-Tien Cheng, Rong Jing Sheu, Tsing Hua Chen, Fan Chu Kung

研究成果: Conference contribution

3 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題IEEE/RSJ/GI International Conference on Intelligent Robots and Systems
發行者IEEE
頁面1368-1375
頁數8
2
出版狀態Published - 1994
事件Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Munich, Ger
持續時間: 1994 九月 121994 九月 16

Other

OtherProceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3)
城市Munich, Ger
期間94-09-1294-09-16

    指紋

All Science Journal Classification (ASJC) codes

  • Engineering(all)

引用此

Cheng, F-T., Sheu, R. J., Chen, T. H., & Kung, F. C. (1994). Improved compact QP method for resolving manipulator redundancy. 於 IEEE/RSJ/GI International Conference on Intelligent Robots and Systems (卷 2, 頁 1368-1375). IEEE.