QP-based SMP scheme for robots with pseudoinverse method compared and singularities discussed

摘要

To achieve the self-motion planning (SMP) of redundant robot manipulators, this paper investigates an SMP scheme by considering joint physical limits. The scheme is then reformulated and unified as a quadratic program (QP) subject to equality and bound constraints. For comparison purposes, the classical pseudoinverse-type method is presented. Simulation results based on a three-link planar manipulator, PUMA560 and PA10 manipulators further substantiate the efficacy and superiority of the SMP scheme. Besides, the effect of design parameters λ and γ is investigated, and the singularities of the self-motion for redundant manipulators are discussed.