Feedback-Added Pseudoinverse-Type Balanced Minimization Scheme for Kinematic Control of Redundant Robot Manipulators

摘要

In this paper, a new feedback-added pseudoinverse-type balanced minimization (FPBM) scheme is proposed and studied for the kinematic control of redundant robot manipulators. Such a scheme is designed by combining the minimum acceleration norm (MAN) solution and the weighted minimum velocity norm (WMVN) solution and by introducing the feedback. With the MAN and WMVN combination, the proposed FPBM scheme can not only remedy the phenomena of high velocity and acceleration but also generate a near-zero velocity after task execution. With the feedback introduction, the proposed FPBM scheme can guarantee a nondivergent end-effector tracking error. Based on a four-link robot manipulator, the simulation results are presented to show the effectiveness of the proposed FPBM scheme.