Joint-Limit Avoidance and Multiple-Goal Considerartions for Redundant Manipulators

• Main Authors: Feng-Ming Chang, 張峰銘
• Other Authors: Fang-Tien Cheng, Jyh-Ching Juang
• Format: Others
• Language: en_US
• Published: 1995
• Online Access: http://ndltd.ncl.edu.tw/handle/34520915337721273714

碩士 === 國立成功大學 === 電機工程研究所 === 83 === Previously, joint-angle limits of a redundant manipulator have been formulated into the inequality-constraints of the quadratic programming(QP) formulation. And, the corresponding joint-limit avoidance problem has been solved by applying the Compact QP method. However, recently, we have discovered that this approach will cause discontinuities in the joint velocities and, further, result in unacceptable accelerations. In order to resolved this problem, the task of joint-limit avoidance will be switched from the inequality constraints into the objective function. At the same time, the original objectives, such as singularity avoidance and drift-free consideration, shall also be preserved. Therefore, multiple- goal considerations shall be conducted. In this research, a systematic algorithm, namely the Parallel Scheme will be proposed to solve the multiple-goal problem. It can adaptively adjust all the weighting factors of the corresponding goals according to their individual needs under dynamically varying environments. The 7-DOF CESAR redundant manipulator will be used as an example mechanism to test the proposed algorithms for joint-limit avoidance and multiple-goal considerations.