A New Repetitive Motion Planning Scheme With Noise Suppression Capability for Redundant Robot Manipulators

摘要

Repetitive motion planning (RMP) is a crucial issue encountered in studies on redundant robot manipulators. Numerous RMP schemes have been established in previous studies wherein simulations are assumed to be free of noise. However, noise is ubiquitous and can severely affect RMP schemes to the point of causing failure. This paper attempts address the limitations imposed by noise by providing the first RMP scheme with inherent noise-suppression capability. The new RMP scheme for redundant robot manipulators in a noisy environment is proposed on the basis of an equality criterion that is robust against additive noise. The equality criterion is established by incorporating the proportional and integral information of the desired end-effector path. The proposed scheme is reformulated as a quadratic program and is calculated by using a recurrent neural network. Comparative simulation results obtained with PA10 and four-link robot manipulators illustrate the effectiveness and superiority of the proposed RMP scheme over the traditional RMP scheme.