Revisiting QP-based Control Schemes for Redundant Robotic Systems with Different Emphases

摘要

Thanks to the transformation and upgrading of traditional manufacturing, robotic manipulators have been de-veloping rapidly and attracted extensive attention. In this back-ground, this paper generalizes the control problem of redun-dant robotic systems into a quadratic programming (QP)-based control scheme. Then, discussions are carried out on such a scheme, succinctly describing and analyzing selected examples of each component with different emphases. Subsequently, a corresponding controller is presented to realize the kinematic control of redundant manipulators with abundant simulative results. Finally, the principles of robotic physical experiments are clearly explained and analyzed.