Acceleration-Level Minimum Kinetic Energy (MKE) Scheme Derived via Ma Equivalence for Motion Planning of Redundant Robot Manipulators

摘要

By following Ma et al's inspiring work (or termed, Ma equivalence), this paper proposes and investigates an acceleration-level minimization scheme for motion planning of redundant robot manipulators. Such a scheme depicted in the pseudo inverse-type formulation can achieve the purpose of the minimum kinetic energy (MKE) redundancy resolution originally at the joint-velocity level, and is thus termed the acceleration-level MKE scheme. In other words, the equivalence (i.e., Mathematical equivalence, or generalized Ma equivalence) of MKE redundancy resolution at different levels is presented and discussed in this paper. Simulation results based on PUMA560 robot manipulator further substantiate the equivalence between the proposed acceleration-level MKE scheme and its original one (at the joint-velocity level).