TY - GEN
T1 - Control method for redundant manipulators with multi-constraints
AU - Lu, Beibei
AU - Guo, Shuli
AU - Han, Lina
N1 - Publisher Copyright:
© 2016, Fuji Technology Press. All rights reserved.
PY - 2016
Y1 - 2016
N2 - When redundant manipulators work in a complex environment, many constraints need to be met. Gradient projection method (GPM) is a typical way to fulfil constraints that does not affect the main task. However it's difficult to fulfil all the restrictions simultaneously. In this paper, the Jacobian matrix for constraints is proposed and an extended Jacobian matrix form equivalent to the GPM is obtained. Then the multi-objective compliance control scheme is applied to the extended Jacobian matrix form to ensure that the main task and multi-constraints are fulfilled simultaneously. At last we test this scheme in a sixdegree-of-freedom (6-DOF) manipulator and the simulation results confirm our conclusions.
AB - When redundant manipulators work in a complex environment, many constraints need to be met. Gradient projection method (GPM) is a typical way to fulfil constraints that does not affect the main task. However it's difficult to fulfil all the restrictions simultaneously. In this paper, the Jacobian matrix for constraints is proposed and an extended Jacobian matrix form equivalent to the GPM is obtained. Then the multi-objective compliance control scheme is applied to the extended Jacobian matrix form to ensure that the main task and multi-constraints are fulfilled simultaneously. At last we test this scheme in a sixdegree-of-freedom (6-DOF) manipulator and the simulation results confirm our conclusions.
KW - Extended Jacobian matrix
KW - Multi-constraints
KW - Multi-objective compliance control
KW - Redundant manipulator
UR - http://www.scopus.com/inward/record.url?scp=84997776932&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84997776932
T3 - ISCIIA 2016 - 7th International Symposium on Computational Intelligence and Industrial Applications
BT - ISCIIA 2016 - 7th International Symposium on Computational Intelligence and Industrial Applications
PB - Fuji Technology Press
T2 - 7th International Symposium on Computational Intelligence and Industrial Applications, ISCIIA 2016
Y2 - 3 November 2016 through 6 November 2016
ER -