Distributed Neurodynamic Optimization for Coordination of Redundant Robots

Abstract

In this paper, the robot coordination system is composed of a number of redundant manipulators. An optimization model is formulated as a convex problem with globally coupled constraints, which includes equality constraints derived for path tracking, inequality constraints derived for obstacle avoidance, and convex sets built for joint physical limits. A novel distributed neurodynamic-based algorithm is developed for solving the complex problem in real time, so that there is no need for having a center coordinator in the robot system. To verify the established model and the developed algorithm, a two redundant manipulators system is simulated to carry a rigid object following desired trajectories with obstacles considered.