Paper Info
Title
Clamping weighted least-norm method for the manipulator kinematic control with constraints.
Abstract
ABSTRACTOne of the main challenges for kinematic control of manipulators is how to effectively address various constraints, such as obstacle avoidances. Most constraints can be converted into a virtual joint-limit problem by the general weighted least-norm method reported recently. However, a chattering of weighted factors might occur in the presence of disturbances. In this paper, in order to improve the robustness to disturbances, a clamping term forcing joints away from their limits is added to the solution of inverse kinematics, termed as the clamping weighted least-norm method. It is proved that the joint-limit constraint is always guaranteed. The proposed method is applicable to both non-redundant and redundant manipulators; the accuracy of main task is sacrificed only when there is confliction between main task and joint-limit constraint. Experiments on the seven-degree-of-freedom redundant manipulator illustrate the good performance for avoiding joint limits while tracking a given trajectory.
Year
Venue
Field
2016
Int. J. Control
Clamping,Obstacle,Mathematical optimization,Kinematics,Inverse kinematics,Control theory,Manipulator,Robustness (computer science),Trajectory,Mathematics
DocType
Volume
Issue
Journal
89
11
Citations 
PageRank 
References 
0
0.34
0
Authors
4
Name
Order
Citations
PageRank
Shuihua Huang121.04
Yonggang Peng245.51
Wei Wei322.05
Ji Xiang423728.37